Erroneous time and location detection and correction

ABSTRACT

Systems and techniques are described for detecting one or more timing errors. For example, a system can receive, from a navigation system, navigation timestamp information at a first instance and a second instance. The system can determine a navigation system time difference based on the navigation timestamp information at the first instance and the second instance. The system can further receive, from a wireless device, network timestamp information at the first instance and the second instance. The system can determine a network time difference based on the network timestamp information at the first instance and the second instance. The system can further determine whether time reporting by the navigation system is correct based on the navigation system time difference and the network time difference.

FIELD

The present disclosure relates generally to communication systems. Forexample, aspects of the present disclosure relate to a configuration fordetecting and correcting time errors and/or location measurement errors.

BACKGROUND

Wireless communication systems are widely deployed to provide varioustelecommunication services such as telephony, video, data, messaging,and broadcasts. Typical wireless communication systems may employmultiple-access technologies capable of supporting communication withmultiple users by sharing available system resources. Examples of suchmultiple-access technologies include code division multiple access(CDMA) systems, time division multiple access (TDMA) systems, frequencydivision multiple access (FDMA) systems, orthogonal frequency divisionmultiple access (OFDMA) systems, single-carrier frequency divisionmultiple access (SC-FDMA) systems, and time division synchronous codedivision multiple access (TD-SCDMA) systems.

These multiple access technologies have been adopted in varioustelecommunication standards to provide a common protocol that enablesdifferent wireless devices to communicate on a municipal, national,regional, and even global level. An example telecommunication standardis 5G New Radio (NR). 5G NR is part of a continuous mobile broadbandevolution promulgated by Third Generation Partnership Project (3GPP) tomeet new requirements associated with latency, reliability, security,scalability (e.g., with Internet of Things (IoT)), and otherrequirements. 5G NR includes services associated with enhanced mobilebroadband (eMBB), massive machine type communications (mMTC), andultra-reliable low latency communications (URLLC). Some aspects of 5G NRmay be based on the 4G Long Term Evolution (LTE) standard. Aspects ofwireless communication may comprise direct communication betweendevices, such as in V2X, V2V, and/or D2D communication. There exists aneed for further improvements in V2X, V2V, and/or D2D technology. Theseimprovements may also be applicable to other multi-access technologiesand the telecommunication standards that employ these technologies.

SUMMARY

The following presents a simplified summary relating to one or moreaspects disclosed herein. Thus, the following summary should not beconsidered an extensive overview relating to all contemplated aspects,nor should the following summary be considered to identify key orcritical elements relating to all contemplated aspects or to delineatethe scope associated with any particular aspect. Accordingly, thefollowing summary has the sole purpose to present certain conceptsrelating to one or more aspects relating to the mechanisms disclosedherein in a simplified form to precede the detailed descriptionpresented below.

Disclosed are systems, apparatuses, methods and computer-readable mediafor detecting one or more timing errors and/or one or more locationerrors. According to at least one example, an apparatus for detectingone or more timing errors is provided. The apparatus includes: at leastone transceiver; at least one memory; and at least one processor coupledto the at least one transceiver and the at least one memory, the atleast one processor configured to: receive, from a navigation system,navigation timestamp information at a first instance and a secondinstance; determine a navigation system time difference based on thenavigation timestamp information at the first instance and the secondinstance; receive, from a wireless device, network timestamp informationat the first instance and the second instance; determine a network timedifference based on the network timestamp information at the firstinstance and the second instance; and determine whether time reportingby the navigation system is correct based on the navigation system timedifference and the network time difference.

In another example, a method for detecting one or more timing errors isprovided. The method can include: receiving, from a navigation system,navigation timestamp information at a first instance and a secondinstance; determining a navigation system time difference based on thenavigation timestamp information at the first instance and the secondinstance; receiving, from a wireless device, network timestampinformation at the first instance and the second instance; determining anetwork time difference based on the network timestamp information atthe first instance and the second instance; and determining whether timereporting by the navigation system is correct based on the navigationsystem time difference and the network time difference.

In another example, a non-transitory computer-readable storage medium isprovided that comprises at least one instruction for causing a computeror processor to: receive, from a navigation system, navigation timestampinformation at a first instance and a second instance; determine anavigation system time difference based on the navigation timestampinformation at the first instance and the second instance; receive, froma wireless device, network timestamp information at the first instanceand the second instance; determine a network time difference based onthe network timestamp information at the first instance and the secondinstance; and determine whether time reporting by the navigation systemis correct based on the navigation system time difference and thenetwork time difference.

In another example, an apparatus for detecting one or more timing errorsis provided. The apparatus includes: means for receiving, from anavigation system, navigation timestamp information at a first instanceand a second instance; means for determining a navigation system timedifference based on the navigation timestamp information at the firstinstance and the second instance; means for receiving, from a wirelessdevice, network timestamp information at the first instance and thesecond instance; means for determining a network time difference basedon the network timestamp information at the first instance and thesecond instance; and means for determining whether time reporting by thenavigation system is correct based on the navigation system timedifference and the network time difference.

According to at least one other example, an apparatus for determiningone or more location errors is provided. The apparatus includes: atleast one transceiver; at least one memory; and at least one processorcoupled to the at least one transceiver and the at least one memory, theat least one processor configured to: transmit, via the at least onetransceiver to a device, a first message comprising a first locationestimate of the apparatus; receive, via the at least one transceiverfrom the device, a second message comprising a second location estimateof the apparatus determined by the device; and determine whether thefirst location estimate is accurate based on the second locationestimate.

In another example, a method for determining one or more location errorsby a first device is provided. The method can include: transmitting, toa second device, a first message comprising a first location estimate ofthe first device; receiving, from the second device, a second messagecomprising a second location estimate of the first device determined bythe second device; and determining whether the first location estimateis accurate based on the second location estimate.

In another example, a non-transitory computer-readable storage medium ofa first device is provided that comprises at least one instruction forcausing a computer or processor to: transmit, to a second device, afirst message comprising a first location estimate of the first device;receive, from the second device, a second message comprising a secondlocation estimate of the first device determined by the second device;and determine whether the first location estimate is accurate based onthe second location estimate.

In another example, an apparatus for determining one or more locationerrors is provided. The apparatus includes: means for transmitting, to asecond device, a first message comprising a first location estimate ofthe first device; means for receiving, from the second device, a secondmessage comprising a second location estimate of the first devicedetermined by the second device; and means for determining whether thefirst location estimate is accurate based on the second locationestimate.

In some aspects, the apparatus is, or is part of, a mobile device (e.g.,a mobile telephone or so-called “smart phone” or other mobile device), awearable device, an extended reality device (e.g., a virtual reality(VR) device, an augmented reality (AR) device, or a mixed reality (MR)device), a personal computer, a laptop computer, a vehicle, a servercomputer, a robotics device, or other device. In some aspects, theapparatus includes a camera or multiple cameras for capturing one ormore images. In some aspects, the apparatus further includes a displayfor displaying one or more images, notifications, and/or otherdisplayable data. In some aspects, the apparatuses described above caninclude one or more sensors, which can be used for determining alocation of the apparatuses, a state of the apparatuses (e.g., atemperature, a humidity level, and/or other state), and/or for otherpurposes.

This summary is not intended to identify key or essential features ofthe claimed subject matter, nor is it intended for use in isolation todetermine the scope of the claimed subject matter. The subject mattershould be understood by reference to appropriate portions of the entirespecification of this patent, any or all drawings, and each claim.

Other objects and advantages associated with the aspects disclosedherein will be apparent to those skilled in the art based on theaccompanying drawings and detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are presented to aid in the description ofvarious aspects of the disclosure and are provided solely forillustration of the aspects and not limitation thereof.

FIG. 1 is a diagram illustrating an example of a wireless communicationssystem and an access network.

FIG. 2 illustrate example aspects of a sidelink slot structure, inaccordance with some aspects of the present disclosure.

FIG. 3 is a diagram illustrating an example of a first device and asecond device involved in wireless communications (e.g., V2Vcommunications, V2X communications, and/or other device-to-devicecommunication), in accordance with some aspects of the presentdisclosure.

FIG. 4 is a diagram illustrating an example of devices involved inwireless communications (e.g., sidelink communications), in accordancewith some aspects of the present disclosure.

FIGS. 5A-5D are diagrams illustrating examples of sensor-sharing forcooperative and automated driving systems, in accordance with someaspects of the present disclosure.

FIG. 6 is a diagram illustrating an example of sensor-sharing forcooperative and automated driving systems, in accordance with someaspects of the present disclosure.

FIG. 7 is a timing diagram illustrating an example of timestampinformation reported by a network and a navigation system, in accordancewith some aspects of the present disclosure.

FIG. 8 is a call flow diagram illustrating an example of a process foridentifying errors for timestamp information reported by a navigationsystem, according to some aspects of the present disclosure.

FIG. 9 is a diagram of an example of a communication exchange performedbetween vehicles that can be used to validate location estimatesperformed by a host vehicle, according to some aspects of the presentdisclosure.

FIG. 10 is a call flow diagram illustrating an example of a process forvalidating a location estimate performed at a host vehicle, according tosome aspects of the present disclosure.

FIG. 11 and FIG. 12 are diagrams illustrating an example of a sensordata sharing message structure, in accordance with some aspects of thepresent disclosure.

FIG. 13 is a flow diagram illustrating an example of a process forvalidating timestamp information received from a navigation system,according to some aspects of the present disclosure.

FIG. 14 is a flow diagram illustrating an example of a process forvalidating a detected object, in accordance with some aspects of thepresent disclosure.

FIG. 15 is a diagram illustrating an example of a hardwareimplementation for an example apparatus, in accordance with some aspectsof the present disclosure.

DETAILED DESCRIPTION

Certain aspects and embodiments of this disclosure are provided belowfor illustration purposes. Alternate aspects may be devised withoutdeparting from the scope of the disclosure. Additionally, well-knownelements of the disclosure will not be described in detail or will beomitted so as not to obscure the relevant details of the disclosure.Some of the aspects and embodiments described herein can be appliedindependently and some of them may be applied in combination as would beapparent to those of skill in the art. In the following description, forthe purposes of explanation, specific details are set forth in order toprovide a thorough understanding of embodiments of the application.However, it will be apparent that various embodiments may be practicedwithout these specific details. The figures and description are notintended to be restrictive.

The ensuing description provides example embodiments only, and is notintended to limit the scope, applicability, or configuration of thedisclosure. Rather, the ensuing description of the exemplary embodimentswill provide those skilled in the art with an enabling description forimplementing an exemplary embodiment. It should be understood thatvarious changes may be made in the function and arrangement of elementswithout departing from the spirit and scope of the application as setforth in the appended claims.

The terms “exemplary” and/or “example” are used herein to mean “servingas an example, instance, or illustration.” Any aspect described hereinas “exemplary” and/or “example” is not necessarily to be construed aspreferred or advantageous over other aspects. Likewise, the term“aspects of the disclosure” does not require that all aspects of thedisclosure include the discussed feature, advantage or mode ofoperation.

Aspects of the present disclosure relate to features for improvingcooperative and navigation decisions by automated devices (e.g.,automated driving decisions by vehicles, such as autonomous orsemi-autonomous vehicles). For instance, vehicles or other wirelessdevices may report inaccurate information. In some cases, there may beerrors in timing and/or location information reported by wirelessdevices, such as by vehicles transmitting messages (e.g., cellularvehicle-to-everything (C-V2X) messages). Some such misreportinginstances may be performed by malicious entities, while others may bedue to perception errors associated with the reporting entity. Forexample, erroneous timing information may be reported by a navigationinfrastructure, such as a Global Navigation Satellite System (GNSS). Inanother example, time spoofing at a wireless device (e.g., a vehicle)can occur. For instance, time spoofing at the wireless device can occurdue to the raw timing information in the GNSS message being spoofed,which can lead to incorrect calculated time and/or position at thewireless device (e.g., vehicle). Further, even if raw data is notspoofed, systematic and random faults by the vehicle software and/orhardware, or malicious access to internal software and/or hardware byoutside adversaries, can lead to an incorrect timing source. Erroneouslocation and timing information at wireless device (e.g., a vehicle) mayprohibit transmission of messages (e.g., C-V2X messages) and/or havesafety implications that lead to traffic accidents even if messages canbe transmitted. Without precise/accurate timing, these wireless devices(e.g., vehicles) are unable to communicate via such messages (e.g.,C-V2X messages).

Systems, apparatuses, processes (also referred to as methods), andcomputer-readable media (collectively referred to herein as systems andtechniques) are described herein for identifying (e.g., detecting ordetermining) and correcting erroneous time and/or location measurementerrors. In some aspects, erroneous timing information reported by anavigation infrastructure, such as a GNSS, can be identified by awireless device (e.g., a host vehicle) by comparing received navigationtimestamp information with timestamp information received from anetwork, such as a Wireless Wide Area Network (WWAN), to which thewireless device is connected. In such aspects, timing differences (e.g.,deltas) between timestamps reported by the navigation device (e.g., aGNSS device) and a network entity (e.g., a base station, or RSU, etc.)can be compared to determine if any disparities exist in time reportingfrom the various systems. In some aspects, small differences may beexpected, for example, due to delays caused in the normal operation ofsoftware and/or hardware functions, such as propagation delays intransmitting signals from a base station to a wireless device, handoverdelays, etc. As such, in some cases, timing errors may only beregistered if the disparities between navigation timestamps (e.g.,navigation deltas) and network timestamps (network deltas) exceed apredetermined threshold.

In some examples, erroneous location reporting can be identified throughcomparisons of location estimates reported by host vehicle (orego-vehicle) and estimates of the host vehicle location that areperformed by one or more other wireless devices (e.g., remote vehicles(RVs) or other wireless devices) and/or stationary infrastructuredevices (e.g., RSUs or other stationary infrastructure devices) In suchexamples, location estimate information broadcast by the host vehicle(e.g., in one or more Basic Safety Messages (BSMs)) can be verified byother entities (e.g., RVs) with the ability to measure and/or sense thelocation of the host vehicle. Updated or corrected location informationcan then be reported back to the host vehicle from one or more RVs. Forexample, one or more RVs can report back the updated/corrected locationinformation by transmitting one or more messages (e.g., one or moresensor data sharing messages (SDSMs), one or more cooperative perceptionmessages (CPMs), or other message(s)) to the ego vehicle. Depending onthe desired implementation, identification of host vehicle locationreporting errors can trigger the host vehicle to rescheduletransmissions and/or to update location information for the associatedwireless device.

Additional aspects of the present disclosure are described in moredetail below.

As used herein, the terms “user equipment” (UE) and “base station” arenot intended to be specific or otherwise limited to any particular radioaccess technology (RAT), unless otherwise noted. In general, a UE may beany wireless communication device (e.g., a mobile phone, router, tabletcomputer, laptop computer, and/or tracking device, etc.), wearable(e.g., smartwatch, smart-glasses, wearable ring, and/or an extendedreality (XR) device such as a virtual reality (VR) headset, an augmentedreality (AR) headset or glasses, or a mixed reality (MR) headset),vehicle (e.g., automobile, motorcycle, bicycle, etc.), and/or Internetof Things (IoT) device, etc., used by a user to communicate over awireless communications network. A UE may be mobile or may (e.g., atcertain times) be stationary, and may communicate with a radio accessnetwork (RAN). As used herein, the term “UE” may be referred tointerchangeably as an “access terminal” or “AT,” a “client device,” a“wireless device,” a “subscriber device,” a “subscriber terminal,” a“subscriber station,” a “user terminal” or “UT,” a “mobile device,” a“mobile terminal,” a “mobile station,” or variations thereof. Generally,UEs can communicate with a core network via a RAN, and through the corenetwork the UEs can be connected with external networks such as theInternet and with other UEs. Of course, other mechanisms of connectingto the core network and/or the Internet are also possible for the UEs,such as over wired access networks, wireless local area network (WLAN)networks (e.g., based on IEEE 802.11 communication standards, etc.) andso on.

A base station may operate according to one of several RATs incommunication with UEs, road side units (RSUs), and/or other devicesdepending on the network in which it is deployed, and may bealternatively referred to as an access point (AP), a network node, aNodeB (NB), an evolved NodeB (eNB), a next generation eNB (ng-eNB), aNew Radio (NR) Node B (also referred to as a gNB or gNodeB), etc. A basestation may be used primarily to support wireless access by UEs,including supporting data, voice, and/or signaling connections for thesupported UEs. In some systems, a base station may provide edge nodesignaling functions while in other systems it may provide additionalcontrol and/or network management functions. A communication linkthrough which UEs can send signals to a base station is called an uplink(UL) channel (e.g., a reverse traffic channel, a reverse controlchannel, an access channel, etc.). A communication link through whichthe base station can send signals to UEs is called a downlink (DL) orforward link channel (e.g., a paging channel, a control channel, abroadcast channel, or a forward traffic channel, etc.). The term trafficchannel (TCH), as used herein, can refer to either an uplink, reverse ordownlink, and/or a forward traffic channel.

The term “base station” may refer to a single physicaltransmission-reception point (TRP) or to multiple physical TRPs that mayor may not be co-located. For example, where the term “base station”refers to a single physical TRP, the physical TRP may be an antenna ofthe base station corresponding to a cell (or several cell sectors) ofthe base station. Where the term “base station” refers to multipleco-located physical TRPs, the physical TRPs may be an array of antennas(e.g., as in a multiple-input multiple-output (MIMO) system or where thebase station employs beamforming) of the base station. Where the term“base station” refers to multiple non-co-located physical TRPs, thephysical TRPs may be a distributed antenna system (DAS) (a network ofspatially separated antennas connected to a common source via atransport medium) or a remote radio head (RRH) (a remote base stationconnected to a serving base station). Alternatively, the non-co-locatedphysical TRPs may be the serving base station receiving the measurementreport from the UE and a neighbor base station whose reference RFsignals (or simply “reference signals”) the UE is measuring. Because aTRP is the point from which a base station transmits and receiveswireless signals, as used herein, references to transmission from orreception at a base station are to be understood as referring to aparticular TRP of the base station.

In some implementations that support positioning of UEs, a base stationmay not support wireless access by UEs (e.g., may not support data,voice, and/or signaling connections for UEs), but may instead transmitreference signals to UEs to be measured by the UEs, and/or may receiveand measure signals transmitted by the UEs. Such a base station may bereferred to as a positioning beacon (e.g., when transmitting signals toUEs) and/or as a location measurement unit (e.g., when receiving andmeasuring signals from UEs).

A road side unit (RSU) is a device that can transmit and receivemessages over a communications link or interface (e.g., a cellular-basedsidelink or PC5 interface, an 802.11 or WiFi™ based Dedicated ShortRange Communication (DSRC) interface, and/or other interface) to andfrom one or more UEs, other RSUs, and/or base stations. An example ofmessages that can be transmitted and received by an RSU includesvehicle-to-everything (V2X) messages, which are described in more detailbelow. RSUs can be located on various transportation infrastructuresystems, including roads, bridges, parking lots, toll booths, and/orother infrastructure systems. In some examples, an RSU can facilitatecommunication between UEs (e.g., vehicles, pedestrian user devices,and/or other UEs) and the transportation infrastructure systems. In someimplementations, a RSU can be in communication with a server, basestation, and/or other system that can perform centralized managementfunctions.

An RSU can communicate with a communications system of a UE. Forexample, an intelligent transport system (ITS) of a UE (e.g., a vehicleand/or other UE) can be used to generate and sign messages fortransmission to an RSU and to validate messages received from an RSU. AnRSU can communicate (e.g., over a PC5 interface, DSRC interface, etc.)with vehicles traveling along a road, bridge, or other infrastructuresystem in order to obtain traffic-related data (e.g., time, speed,location, etc. of the vehicle). In some cases, in response to obtainingthe traffic-related data, the RSU can determine or estimate trafficcongestion information (e.g., a start of traffic congestion, an end oftraffic congestion, etc.), a travel time, and/or other information for aparticular location. In some examples, the RSU can communicate withother RSUs (e.g., over a PC5 interface, DSRC interface, etc.) in orderto determine the traffic-related data. The RSU can transmit theinformation (e.g., traffic congestion information, travel timeinformation, and/or other information) to other vehicles, pedestrianUEs, and/or other UEs. For example, the RSU can broadcast or otherwisetransmit the information to any UE (e.g., vehicle, pedestrian UE, etc.)that is in a coverage range of the RSU.

A radio frequency signal or “RF signal” comprises an electromagneticwave of a given frequency that transports information through the spacebetween a transmitter and a receiver. As used herein, a transmitter maytransmit a single “RF signal” or multiple “RF signals” to a receiver.However, the receiver may receive multiple “RF signals” corresponding toeach transmitted RF signal due to the propagation characteristics of RFsignals through multipath channels. The same transmitted RF signal ondifferent paths between the transmitter and receiver may be referred toas a “multipath” RF signal. As used herein, an RF signal may also bereferred to as a “wireless signal” or simply a “signal” where it isclear from the context that the term “signal” refers to a wirelesssignal or an RF signal.

According to various aspects, FIG. 1 is a diagram illustrating anexample of a wireless communications system and an access network 100.The wireless communications system (also referred to as a wireless widearea network (WWAN)) includes base stations 102, UEs 104, an EvolvedPacket Core (EPC) 160, and a Core Network (e.g., 5GC) 190. The basestations 102 may include macro cells (high power cellular base station)and/or small cells (low power cellular base station). The macro cellsinclude base stations. The small cells include femtocells, picocells,and microcells.

The base stations 102 configured for 4G LTE (collectively referred to asEvolved Universal Mobile Telecommunications System (UMTS) TerrestrialRadio Access Network (E-UTRAN)) may interface with the EPC 160 throughbackhaul links 132 (e.g., S1 interface). The base stations 102configured for NR (collectively referred to as Next Generation RAN(NG-RAN)) may interface with Core Network 190 through backhaul links184. In addition to other functions, the base stations 102 may performone or more of the following functions: transfer of user data, radiochannel ciphering and deciphering, integrity protection, headercompression, mobility control functions (e.g., handover, dualconnectivity), inter-cell interference coordination, connection setupand release, load balancing, distribution for non-access stratum (NAS)messages, NAS node selection, synchronization, radio access network(RAN) sharing, multimedia broadcast multicast service (MBMS), subscriberand equipment trace, RAN information management (RIM), paging,positioning, and delivery of warning messages. The base stations 102 maycommunicate directly or indirectly (e.g., through the EPC 160 or CoreNetwork 190) with each other over backhaul links 134 (e.g., X2interface). The backhaul links 134 may be wired or wireless.

The base stations 102 may wirelessly communicate with the UEs 104. Eachof the base stations 102 may provide communication coverage for arespective geographic coverage area 110. There may be overlappinggeographic coverage areas 110. For example, the small cell 102′ may havea coverage area 110′ that overlaps the coverage area 110 of one or moremacro base stations 102. A network that includes both small cell andmacro cells may be known as a heterogeneous network. A heterogeneousnetwork may also include Home Evolved Node Bs (eNBs) (HeNBs), which mayprovide service to a restricted group known as a closed subscriber group(CSG). The communication links 120 between the base stations 102 and theUEs 104 may include uplink (UL) (also referred to as reverse link)transmissions from a UE 104 to a base station 102 and/or downlink (DL)(also referred to as forward link) transmissions from a base station 102to a UE 104. The communication links 120 may use multiple-input andmultiple-output (MIMO) antenna technology, including spatialmultiplexing, beamforming, and/or transmit diversity. The communicationlinks may be through one or more carriers. The base stations 102 / UEs104 may use spectrum up to Y MHz (e.g., 5, 10, 15, 20, 100, 400, etc.MHz) bandwidth per carrier allocated in a carrier aggregation of up to atotal of Yx MHz (x component carriers) used for transmission in eachdirection. The carriers may or may not be adjacent to each other.Allocation of carriers may be asymmetric with respect to DL and UL(e.g., more or less carriers may be allocated for DL than for UL). Thecomponent carriers may include a primary component carrier and one ormore secondary component carriers. A primary component carrier may bereferred to as a primary cell (PCell) and a secondary component carriermay be referred to as a secondary cell (SCell).

Certain UEs 104 may communicate with each other using device-to-device(D2D) communication link 158. The D2D communication link 158 may use theDL/UL WWAN spectrum. The D2D communication link 158 may use one or moresidelink channels, such as a physical sidelink broadcast channel(PSBCH), a physical sidelink discovery channel (PSDCH), a physicalsidelink shared channel (PSSCH), and a physical sidelink control channel(PSCCH). D2D communication may be through a variety of wireless D2Dcommunications systems, such as for example, FlashLinQ, WiMedia,Bluetooth, ZigBee, Wi-Fi based on the IEEE 802.11 standard, LTE, or NR.

The wireless communications system may further include a Wi-Fi accesspoint (AP) 150 in communication with Wi-Fi stations (STAs) 152 viacommunication links 154 in a 5 GHz unlicensed frequency spectrum. Whencommunicating in an unlicensed frequency spectrum, the STAs 152 / AP 150may perform a clear channel assessment (CCA) prior to communicating inorder to determine whether the channel is available.

The small cell 102′ may operate in a licensed and/or an unlicensedfrequency spectrum. When operating in an unlicensed frequency spectrum,the small cell 102′ may employ NR and use the same 5 GHz unlicensedfrequency spectrum as used by the Wi-Fi AP 150. The small cell 102′,employing NR in an unlicensed frequency spectrum, may boost coverage toand/or increase capacity of the access network.

A base station 102, whether a small cell 102′ or a large cell (e.g.,macro base station), may include an eNB, gNodeB (gNB), or other type ofbase station. Some base stations, such as gNB 180 may operate in atraditional sub 6 GHz spectrum, in millimeter wave (mmW) frequencies,and/or near mmW frequencies in communication with the UE 104. When thegNB 180 operates in mmW or near mmW frequencies, the gNB 180 may bereferred to as an mmW base station. Extremely high frequency (EHF) ispart of the RF in the electromagnetic spectrum. EHF has a range of 30GHz to 300 GHz and a wavelength between 1 millimeter and 10 millimeters.Radio waves in the band may be referred to as a millimeter wave. NearmmW may extend down to a frequency of 3 GHz with a wavelength of 100millimeters. The super high frequency (SHF) band extends between 3 GHzand 30 GHz, also referred to as centimeter wave. Communications usingthe mmW / near mmW radio frequency band has extremely high path loss anda short range. The mmW base station 180 may utilize beamforming 182 withthe UE 104 to compensate for the extremely high path loss and shortrange.

Devices may use beamforming to transmit and receive communication. Forexample, FIG. 1 illustrates that a base station 180 may transmit abeamformed signal to the UE 104 in one or more transmit directions 182′.The UE 104 may receive the beamformed signal from the base station 180in one or more receive directions 182″. The UE 104 may also transmit abeamformed signal to the base station 180 in one or more transmitdirections. The base station 180 may receive the beamformed signal fromthe UE 104 in one or more receive directions. The base station 180 / UE104 may perform beam training to determine the best receive and transmitdirections for each of the base station 180 / UE 104. The transmit andreceive directions for the base station 180 may or may not be the same.The transmit and receive directions for the UE 104 may or may not be thesame. Although beamformed signals are illustrated between UE 104 andbase station 102/180, aspects of beamforming may similarly be applied byUE 104 or RSU 107 to communicate with another UE 104 or RSU 107, such asbased on sidelink communication such as V2X or D2D communication.

The EPC 160 may include a Mobility Management Entity (MME) 162, otherMMEs 164, a Serving Gateway 166, a Multimedia Broadcast MulticastService (MBMS) Gateway 168, a Broadcast Multicast Service Center (BM-SC)170, and a Packet Data Network (PDN) Gateway 172. The MME 162 may be incommunication with a Home Subscriber Server (HSS) 174. The MME 162 isthe control node that processes the signaling between the UEs 104 andthe EPC 160. Generally, the MME 162 provides bearer and connectionmanagement. All user Internet protocol (IP) packets are transferredthrough the Serving Gateway 166, which itself is connected to the PDNGateway 172. The PDN Gateway 172 provides UE IP address allocation aswell as other functions. The PDN Gateway 172 and the BM-SC 170 areconnected to the IP Services 176. The IP Services 176 may include theInternet, an intranet, an IP Multimedia Subsystem (IMS), a PS StreamingService, and/or other IP services. The BM-SC 170 may provide functionsfor MBMS user service provisioning and delivery. The BM-SC 170 may serveas an entry point for content provider MBMS transmission, may be used toauthorize and initiate MBMS Bearer Services within a public land mobilenetwork (PLMN), and may be used to schedule MBMS transmissions. The MBMSGateway 168 may be used to distribute MBMS traffic to the base stations102 belonging to a Multicast Broadcast Single Frequency Network (MBSFN)area broadcasting a particular service, and may be responsible forsession management (start/stop) and for collecting eMBMS relatedcharging information.

The Core Network 190 may include a Access and Mobility ManagementFunction (AMF) 192, other AMFs 193, a Session Management Function (SMF)194, and a User Plane Function (UPF) 195. The AMF 192 may be incommunication with a Unified Data Management (UDM) 196. The AMF 192 isthe control node that processes the signaling between the UEs 104 andthe Core Network 190. Generally, the AMF 192 provides QoS flow andsession management. All user Internet protocol (IP) packets aretransferred through the UPF 195. The UPF 195 provides UE IP addressallocation as well as other functions. The UPF 195 is connected to theIP Services 197. The IP Services 197 may include the Internet, anintranet, an IP Multimedia Subsystem (IMS), a PS Streaming Service,and/or other IP services.

Base station 102 may also be referred to as a gNB, Node B, evolved NodeB (eNB), an access point, a base transceiver station, a radio basestation, a radio transceiver, a transceiver function, a basic serviceset (BSS), an extended service set (ESS), a transmit reception point(TRP), or some other suitable terminology. Base station 102 provides anaccess point to the EPC 160 or Core Network 190 for a UE 104. Examplesof UEs 104 include a cellular phone, a smart phone, a session initiationprotocol (SIP) phone, a laptop, a personal digital assistant (PDA), asatellite radio, a global positioning system, a multimedia device, avideo device, a digital audio player (e.g., MP3 player), a camera, agame console, a tablet, a smart device, a wearable device, a vehicle, anelectric meter, a gas pump, a large or small kitchen appliance, ahealthcare device, an implant, a sensor/actuator, a display, or anyother similar functioning device. Some of the UEs 104 may be referred toas IoT devices (e.g., parking meter, gas pump, toaster, vehicles, heartmonitor, etc.). The UE 104 may also be referred to as a station, amobile station, a subscriber station, a mobile unit, a subscriber unit,a wireless unit, a remote unit, a mobile device, a wireless device, awireless communications device, a remote device, a mobile subscriberstation, an access terminal, a mobile terminal, a wireless terminal, aremote terminal, a handset, a user agent, a mobile client, a client, orsome other suitable terminology.

Some wireless communication networks may include vehicle-basedcommunication devices that can communicate from vehicle-to-vehicle(V2V), vehicle-to-infrastructure (V2I) (e.g., from the vehicle-basedcommunication device to road infrastructure nodes such as a Road SideUnit (RSU)), vehicle-to-network (V2N) (e.g., from the vehicle-basedcommunication device to one or more network nodes, such as a basestation), cellular-vehicle-to everything (C-V2X), enhanced V2X (e-V2X),and/or a combination thereof and/or with other devices, which can becollectively referred to as vehicle-to-anything (V2X) communications.Referring again to FIG. 1 , in certain aspects, a UE 104, e.g., atransmitting Vehicle User Equipment (VUE) or other UE, may be configuredto transmit messages directly to another UE 104. The communication maybe based on V2X or other D2D communication, such as Proximity Services(ProSe), etc. Communication based on V2X and/or D2D communication mayalso be transmitted and received by other transmitting and receivingdevices, such as Road Side Unit (RSU) 107, etc. Aspects of thecommunication may be based on PC5 or sidelink communication e.g., asdescribed in connection with the example in FIG. 2 . Although thefollowing description may provide examples for V2X/D2D communication inconnection with 5G NR, the concepts described herein may be applicableto other similar areas, such as LTE, LTE-A, CDMA, GSM, and otherwireless technologies.

FIG. 2 illustrates an example diagram 200 illustrating a sidelinksubframe within a frame structure that may be used for sidelinkcommunication, e.g., between UEs 104, between a UE and infrastructure,between a UE and an RSU, etc. The frame structure may be within an LTEframe structure. Although the following description may be focused onLTE, the concepts described herein may be applicable to other similarareas, such as 5G NR, LTE-A, CDMA, GSM, and other wireless technologies.This is merely one example, and other wireless communicationtechnologies may have a different frame structure and/or differentchannels. A frame (10 ms) may be divided into 10 equally sized subframes(1 ms). Each subframe may include two slots. Each slot may include 7SC-FDMA symbols. For slot configuration 0, each slot may include 14symbols, and for slot configuration 1, each slot may include 7 symbols.Although the diagram 200 illustrates a single RB subframe, the sidelinkcommunication may include multiple RBs.

A resource grid may be used to represent the frame structure. Each timeslot may include a resource block (RB) (also referred to as physical RBs(PRBs)) that extends 12 consecutive subcarriers. The resource grid isdivided into multiple resource elements (REs). The number of bitscarried by each RE depends on the modulation scheme. As illustrated inFIG. 2 , some of the REs may include a reference signal, such as ademodulation RS (DMRS). At least one symbol may be used for feedback, asdescribed herein. A symbol prior to and/or after the feedback may beused for turnaround between reception of data and transmission of thefeedback. Another symbol, e.g., at the end of the subframe may be usedas a guard symbol without transmission/reception. The guard enables adevice to switch from operating as a transmitting device to prepare tooperate as a receiving device, e.g., in the following subframe. Data orcontrol may be transmitted in the remaining REs, as illustrated. Forexample, data may be carried in a PSSCH, and the control information maybe carried in a PSCCH. The control information may comprise SidelinkControl Information (SCI). The position of any of the reference signals,control, and data may be different than the example illustrated in FIG.2 .

FIG. 2 merely illustrates one, non-limiting example of a frame structurethat may be used. Aspects described herein may be applied tocommunication using other, different frame formats.

FIG. 3 is a block diagram 300 of a first wireless communication device310 in communication with a second wireless communication device 350,e.g., via V2V/V2X/other communication. The device 310 may comprise atransmitting device communicating with a receiving device, e.g., device350. The communication may be based, e.g., on sidelink. The transmittingdevice 310 may comprise a UE, an RSU, etc. The receiving device maycomprise a UE, an RSU, etc. Packets may be provided to acontroller/processor 375 that implements layer 3 and layer 2functionality. Layer 3 includes a radio resource control (RRC) layer,and layer 2 includes a packet data convergence protocol (PDCP) layer, aradio link control (RLC) layer, and a medium access control (MAC) layer.

The transmit (TX) processor 316 and the receive (RX) processor 370implement layer 1 functionality associated with various signalprocessing functions. Layer 1, which includes a physical (PHY) layer,may include error detection on the transport channels, forward errorcorrection (FEC) coding/decoding of the transport channels,interleaving, rate matching, mapping onto physical channels,modulation/demodulation of physical channels, and MIMO antennaprocessing. The TX processor 316 handles mapping to signalconstellations based on various modulation schemes (e.g., binaryphase-shift keying (BPSK), quadrature phase-shift keying (QPSK),M-phase-shift keying (M-PSK), M-quadrature amplitude modulation(M-QAM)). The coded and modulated symbols may then be split intoparallel streams. Each stream may then be mapped to an OFDM subcarrier,multiplexed with a reference signal (e.g., pilot) in the time and/orfrequency domain, and then combined together using an Inverse FastFourier Transform (IFFT) to produce a physical channel carrying a timedomain OFDM symbol stream. The OFDM stream is spatially precoded toproduce multiple spatial streams. Channel estimates from a channelestimator 374 may be used to determine the coding and modulation scheme,as well as for spatial processing. The channel estimate may be derivedfrom a reference signal and/or channel condition feedback transmitted bythe device 350. Each spatial stream may then be provided to a differentantenna 320 via a separate transmitter 318TX. Each transmitter 318TX maymodulate an RF carrier with a respective spatial stream fortransmission.

At the device 350, each receiver 354RX receives a signal through itsrespective antenna 352. Each receiver 354RX recovers informationmodulated onto an RF carrier and provides the information to the receive(RX) processor 356. The TX processor 368 and the RX processor 356implement layer 1 functionality associated with various signalprocessing functions. The RX processor 356 may perform spatialprocessing on the information to recover any spatial streams destinedfor the device 350. If multiple spatial streams are destined for thedevice 350, they may be combined by the RX processor 356 into a singleOFDM symbol stream. The RX processor 356 then converts the OFDM symbolstream from the time-domain to the frequency domain using a Fast FourierTransform (FFT). The frequency domain signal comprises a separate OFDMsymbol stream for each subcarrier of the OFDM signal. The symbols oneach subcarrier, and the reference signal, are recovered and demodulatedby determining the most likely signal constellation points transmittedby device 310. These soft decisions may be based on channel estimatescomputed by the channel estimator 358. The soft decisions are thendecoded and deinterleaved to recover the data and control signals thatwere originally transmitted by device 310 on the physical channel. Thedata and control signals are then provided to the controller/processor359, which implements layer 3 and layer 2 functionality.

The controller/processor 359 can be associated with a memory 360 thatstores program codes and data. The memory 360 may be referred to as acomputer-readable medium. The controller/processor 359 may providedemultiplexing between transport and logical channels, packetreassembly, deciphering, header decompression, and control signalprocessing. The controller/processor 359 is also responsible for errordetection using an ACK and/or NACK protocol to support HARQ operations.

Similar to the functionality described in connection with thetransmission by device 310, the controller/processor 359 may provide RRClayer functionality associated with system information (e.g., MIB, SIBs)acquisition, RRC connections, and measurement reporting; PDCP layerfunctionality associated with header compression / decompression, andsecurity (ciphering, deciphering, integrity protection, integrityverification); RLC layer functionality associated with the transfer ofupper layer PDUs, error correction through ARQ, concatenation,segmentation, and reassembly of RLC SDUs, re-segmentation of RLC dataPDUs, and reordering of RLC data PDUs; and MAC layer functionalityassociated with mapping between logical channels and transport channels,multiplexing of MAC SDUs onto TBs, demultiplexing of MAC SDUs from TBs,scheduling information reporting, error correction through HARQ,priority handling, and logical channel prioritization.

Channel estimates derived by a channel estimator 358 from a referencesignal or feedback transmitted by device 310 may be used by the TXprocessor 368 to select the appropriate coding and modulation schemes,and to facilitate spatial processing. The spatial streams generated bythe TX processor 368 may be provided to different antenna 352 viaseparate transmitters 354TX. Each transmitter 354TX may modulate an RFcarrier with a respective spatial stream for transmission.

The transmission is processed at the device 310 in a manner similar tothat described in connection with the receiver function at the device350. Each receiver 318RX receives a signal through its respectiveantenna 320. Each receiver 318RX recovers information modulated onto anRF carrier and provides the information to a RX processor 370.

The controller/processor 375 can be associated with a memory 376 thatstores program codes and data. The memory 376 may be referred to as acomputer-readable medium. The controller/processor 375 providesdemultiplexing between transport and logical channels, packetreassembly, deciphering, header decompression, control signalprocessing. The controller/processor 375 is also responsible for errordetection using an ACK and/or NACK protocol to support HARQ operations.

At least one of the TX processor 368, the RX processor 356, or thecontroller/processor 359 of device 350 or the TX 316, the RX processor370, or the controller/processor 375 may be configured to performaspects described in connection with 198 or 199 of FIG. 1 .

FIG. 4 illustrates an example 400 of wireless communication betweendevices based on sidelink communication, such as V2X or other D2Dcommunication. The communication may be based on a slot structurecomprising aspects described in connection with FIG. 2 . For example,transmitting UE 402 may transmit a transmission 414, e.g., comprising acontrol channel and/or a corresponding data channel, that may bereceived by receiving UEs 404, 406, 408. At least one UE may comprise anautonomous vehicle or an unmanned aerial vehicle. A control channel mayinclude information for decoding a data channel and may also be used byreceiving device to avoid interference by refraining from transmittingon the occupied resources during a data transmission. The number ofTTIs, as well as the RBs that will be occupied by the data transmission,may be indicated in a control message from the transmitting device. TheUEs 402, 404, 406, 408 may each be capable of operating as atransmitting device in addition to operating as a receiving device.Thus, UEs 406, 408 are illustrated as transmitting transmissions 416,420. The transmissions 414, 416, 420 (and 418 by RSU 407) may bebroadcast or multicast to nearby devices. For example, UE 414 maytransmit communication intended for receipt by other UEs within a range401 of UE 414. Additionally/alternatively, RSU 407 may receivecommunication from and/or transmit communication 418 to UEs 402, 404,406, 408.

UE 402, 404, 406, 408 or RSU 407 may comprise a detection component,similar to 198 described in connection with FIG. 1 . UE 402, 404, 406,408 or RSU 407 may also comprise a BSM or mitigation component, similarto 199 described in connection with FIG. 1 .

In wireless communications, such as V2X communications, V2X entities mayperform sensor sharing with other V2X entities for cooperative andautomated driving. For example, with reference to diagram 500 of FIG.5A, the host vehicle (HV) 502 may detect a number of items within itsenvironment. For example, the HV 502 may detect the presence of thenon-V2X entity (NV) 506 at block 532. The HV 502 may inform otherentities, such as a first remote vehicle (RV1) 504 or a road side unit(RSU) 508, about the presence of the NV 506, if the RV1 504 and/or theRSU 508, by themselves, are unable to detect the NV 506. The HV 502informing the RV1 504 and/or the RSU 508 about the NV 506 is a sharingof sensor information. With reference to diagram 510 of FIG. 5B, the HV502 may detect a physical obstacle 512, such as a pothole, debris, or anobject that may be an obstruction in the path of the HV 502 and/or RV1504 that has not yet been detected by RV1 504 and/or RSU 508. The HV 502may inform the RV1 and/or the RSU 508 of the obstacle 512, such that theobstacle 512 may be avoided. With reference to diagram 520 of FIG. 5C,the HV 502 may detect the presence of a vulnerable road user (VRU) 522and may share the detection of the VRU 522 with the RV1 504 and the RSU508, in instances where the RSU 508 and/or RV1 504 may not be able todetect the VRU 522. With reference to diagram 530 of FIG. 5D, the HV,upon detection of a nearby entity (e.g., NV, VRU, obstacle) may transmita sensor data sharing message (SDSM) 534 to the RV and/or the RSU toshare the detection of the entity. The SDSM 534 may be a broadcastmessage such that any receiving device within the vicinity of the HV mayreceive the message. In some instances, the shared information may berelayed to other entities, such as RVs. For example, with reference todiagram 600 of FIG. 6 , the HV 602 may detect the presence of the NV 606and/or the VRU 622. The HV 602 may broadcast the SDSM 610 to the RSU 608to report the detection of NV 606 and/or VRU 622. The RSU 608 may relaythe SDSM 610 received from the HV 602 to remote vehicles such that theremote vehicles are aware of the presence of the NV 606 and/or VRU 622.For example, the RSU 608 may transmit an SDSM 612 to the RV1 604, wherethe SDSM 612 includes information related to the detection of NV 606and/or VRU 622.

In some cases, vehicles (or other wireless devices) may includeinaccurate information in messages (e.g., C-V2X messages) or may beunable to transmit such messages due to inaccurate measures of locationand/or timing information. In some such instances, erroneous timinginformation may be reported by a navigation infrastructure, such as aGlobal Navigation Satellite System (GNSS). In some instances, locationand/or timing errors may be caused by faulty hardware and/or software.For example, errors in reporting accurate location estimates may be dueto sensor malfunction or calibration issues. Inaccurate measurements oftime can be due to system delays, such as due to propagation delays,inter-cell synchronization mismatch delays that result from handoversbetween base stations, mismatches between timing for various MobileNetwork Operators (MNOs), and/or other issues. In some cases, locationand/or timing errors may be caused by intentional errors, for example,that are introduced by a misbehaving wireless device. In such instances,location estimates and/or timing information may be spoofed, resultingin an inability of the wireless device to effectively transmit messages(e.g., C-V2X messages) and potentially leading to safety consequencesfor other vehicle, such as traffic accidents.

As noted above, systems and techniques are described herein foridentifying (e.g., detecting or determining) and correcting erroneoustime and/or location measurement errors, such as errors in timing and/orlocation reporting by wireless devices (e.g., vehicles transmittingC-V2X messages). In some aspects, a wireless device (e.g., a hostvehicle) can identify erroneous timing information reported by anavigation infrastructure, such as a GNSS, by comparing receivednavigation timestamp information with timestamp information receivedfrom a network (e.g., a Wireless Wide Area Network (WWAN)) to which thewireless device is connected. In such aspects, the wireless device(e.g., host vehicle) can compare timing differences (e.g., deltas)between timestamps reported by the navigation device (e.g., a GNSSdevice) and a network entity (e.g., a base station, or RSU, etc.) todetermine if any disparities exist in time reporting from the varioussystems. In some aspects, small differences may be expected, forexample, due to delays caused in the normal operation of software and/orhardware functions, such as propagation delays in transmitting signalsfrom a base station to a wireless device, or handover delays etc. Insome approaches, timing errors may only be registered if the disparitiesbetween navigation timestamps (navigation deltas), and networktimestamps (e.g., network deltas) exceed a predetermined threshold.Further details regarding the detection of location estimation errors isdiscussed with respect to FIGS. 7, 8, 11, 12, 13, and 15 , below.

In some examples, erroneous location reporting can be identified throughcomparisons of location estimates reported by a host vehicle (orego-vehicle) and estimates of the host vehicle location that areperformed by one or more other wireless devices (e.g., one or moreremote vehicles (RVs)) and/or stationary infrastructure devices (e.g.,one or more RSUs). In such implementations, location estimateinformation broadcast by the ego-vehicle, e.g., in one or more BasicSafety Messages (BSMs), can be verified by other entities (e.g., RVs)with the ability to measure and/or sense the location of the hostvehicle. Updated or corrected location information can then be reportedback to the host vehicle from one or more RVs, for example, via one ormore SDSM/CPM received by the host vehicle. Depending on the desiredimplementation, identification of host vehicle location reporting errorscan trigger the host vehicle to reschedule transmissions and/or toupdate location information for the associated wireless device. Furtherdetails regarding the detection of location estimation errors isdiscussed with respect to FIGS. 9, 10, 11, 12, 13, and 14 , below.

FIG. 7 is a timing diagram 700 illustrating an example of timestampinformation reported by a network and a navigation system. In theexample of FIG. 7 , a network entity (e.g., base station 702) connectedto a wireless device (not illustrated), provides network timestampinformation at two different time instances, such as a first timeinstance 703 and second time instance 705. Network timestamp informationprovided at first time instance 703 is indicated as Ti^(WWAN) andnetwork timestamp information provided at second time instance 705 isindicated as T_(i+1) ^(WWAN). Navigation timestamp information providedat first time instance 703 is indicated as t_(i) ^(GNSS) and navigationtimestamp information provided at second time instance 705 is indicatedas t_(i+1) ^(GNSS).

In some example, disparities in timing or timekeeping between thenetwork entity (e.g., base station 702) and the navigation device 701can be determined by comparing differences between timestamps atdifferent instances, e.g., as between first time instance 703 and secondtime instance 705. For ideal timekeeping scenarios, differences computed(as between instances) for the navigation device 701, and network entity(e.g., base station 702), can be zero, or close to zero. However, insome implementations larger amounts of variability may be permittedbefore time reporting by navigation device 701 is determined to beerroneous. In such approaches, a threshold may be used when comparingdifferences between T_(i+1) ^(WWAN) and T_(i) ^(WWAN) with differencesbetween t_(i+1) ^(GNSS) and t_(i) ^(GNSS). The term

t_(i)^(GNSS)

refers to the time acquired from non-spoofed GNSS data at instance i andthe term

T_(i)^(WWAN)

corresponds to WWAN timing information captured at the same instance i.In some aspects, the threshold can be based on the amount of time delayscontributed by various software and/or hardware processes, including butnot limited to propagation delays between the network entity (e.g., basestation 702) and the wireless device, synchronization delays caused byhandovers between the wireless device and different network entities(e.g., base stations, RSUs, etc.), disparities in propagation delaysduring handovers, delays caused by mismatches between network timingkept by various network entities, such as various Mobile NetworkOperators (MNOs), etc., and/or other factors. In some implementations,the aforementioned delays can be accounted for by implementing athreshold or spoofing threshold Spoof_(thresh).

For instance, under reliable GNSS coverage, a wireless device (e.g., avehicle) can “tag” a GNSS time from the navigation device 701 with WWANtime from the base station 702 captured at the same instance. Thewireless device (e.g., a vehicle) will receive periodic updates on WWANtiming at predefined intervals depending on its state (e.g., idle orconnected state). With this setting, a time-spoofing determination canbe made at instance i + 1 if the following expression provided byequation (1) is met:

|t_(i + 1)^(GNSS) − (t_(i)^(GNSS) + Δt_(i)^(WWAN))| = |Δt_(i)^(GNSS) − Δt_(i)^(WWAN)| > Spoof_(thresh)

where the spoofing threshold Spoof_(thresh) represents the aggregateamount of acceptable delay that is tolerated before the timing disparityis deemed to be erroneous or ‘spoofed.’ The term

Δt_(i)^(WWAN)

can be defined as

Δt_(i)^(WWAN) = f(T_(i + 1)^(WWAN) − T_(i)^(WWAN)),

where a function f(.) is used to convert WWAN timing information intoGNSS time format. In some cases, the term

|Δt_(i)^(GNSS) − Δt_(i)^(WWAN)|

can also be referred to as an absolute difference between the navigationsystem time difference

Δt_(i)^(GNSS)

and the network time difference

Δt_(i)^(WWAN).

In instances where timekeeping errors are not detected (e.g., where awireless device such as a vehicle makes a “no spoofing” determination)at the later time instance (e.g., second time instance 705 correspondingto i+1), then network timestamp information at the later time instance(e.g., second time instance 705) can be associated with (or tagged to)timekeeping operations performed by navigation device 701 (e.g., theGNSS WWAN tag can be updated with that of the second time instance 705).A process for identifying or classifying timekeeping errors is discussedin further detail with respect to FIG. 8 .

In particular, FIG. 8 illustrates a call flow diagram 800 of an exampleprocess for identifying errors for timestamp information reported by anavigation system. In the example of FIG. 8 , a host vehicle (HV) 802receives timestamp information from a network device 804 and timestampinformation from a navigation device 806. As illustrated, navigationdevice 806 provides a navigation timestamp 808 at a first instance, andnetwork device 804 provides a network timestamp 810 at the firstinstance. At a later time (second instance), additional timestampinformation is provided to HV 802 from each device. For example,navigation timestamp 812 is provided to HV 802 by navigation device 806,and network timestamp 814 is provided to HV 802 by network device 804.Once both sets of timestamp information have been received by HV 802,time differences for each can be computed/determined. For example, atblock 816, HV 802 can determine a time difference for timestampsprovided by navigation device 806 at the first instance (e.g.,navigation timestamp 808) and the second instance (e.g., navigationtimestamp 812). Similarly, at block 818, HV 802 can determine a timedifference from timestamps provided by network device 804 at the firstinstance (e.g., network timestamp 810) and the second instance (e.g.,network timestamp 814). Comparisons made between the determined/computedtiming differences can be used to determine whether reporting by thenavigation system is correct (block 820). As discussed above, apredetermined threshold (e.g., a spoofing threshold) may be used tocompensate for standard or expected delays, such as delays attendant innormal software and/or hardware operations, as discussed with respect toFIG. 7 .

FIG. 9 is a diagram 900 of an example communication exchange performedbetween vehicles that can be used to validate location estimatesperformed by a host vehicle, e.g., host vehicle HV 902. In the exampleof diagram 900, HV 902 is shown to broadcast location information via aBasic Safety Message (BSM) to remote vehicles (RVs), including RV 904A,RV 904B, and RV 904C. In operation, RVs 904A, 904B, and/or 904C canreceive the BSM from HV 902, and can compare the location estimatereported by HV 902 with measures (or estimates) of the actual locationof HV 902.

Depending on the desired implementation, RVs 904 may use various meansto estimate an actual location of HV 902. By way of example, one or moreof RVs 904 may estimate the location of HV 902 using sensor datacollected by one or more on-board sensors, such as one or more: LightDetection and Ranging (LiDAR) sensors, radar sensors, and/or cameras,etc. In some examples, various RVs 904 may estimate a location of HV 902using various network-based metrics, such as a Received Signal StrengthIndicator (RSSI) metric, a sidelink positioning process, or othermetric. For instance, the RV 904A, B, and/or C can match an RSSI withthe reported HV location. In some examples, a regression model ormachine-learning model may be used to correlate a distance between oneor more of RVs 904 and HV 902, for example, using RSSI metrics. Forinstance, a regression model can be trained (e.g., via supervisedlearning, unsupervised learning, semi-supervised learning, etc.) tocorrelate distance with RSSI. In some cases, a regression model can beused for RSUs.

Once one or more of the RVs 904A, 904B, 904C have estimated a new (orcorrected) location of HV 902, the updated/corrected location of HV 902can be indicted via message broadcast by the respective RV. By way ofexample, the new/corrected location of HV 902 can be provided usingSDSM/CPM. The SDSM, CPM, or other message transmitted by the RV (e.g.,RV 904A, 904B, or 904C) can include the location of the RV, receivedRSSI from the HV 902, the estimated (or true) location of the HV 902,the claimed (e.g., false) location from the HV 902, and/or otherinformation. For instance, in some aspects, the SDSM/CPM transmitted bythe RV 904 can include the false location estimate that was provided byHV 902, e.g., via BSM broadcast. In some examples, HV 902 can beconfigured to update its location/position estimates based on locationinformation provided by one or more of RVs 904A, B, or C. In someimplementations, the updated position information received by HV 902 canbe used to identify (e.g., infer), by HV 902, that location reporting isinaccurate, and to stop, delay, or reschedule the broadcast of one ormore subsequent measurements. As such, SDSM information received by HV902, which provides updated/true information about an actual location ofHV 902, can be used to trigger corrections to location informationindicated in subsequent transmissions (e.g., BMS transmissions) by HV902, or to halt/cease transmissions entirely.

FIG. 10 is a call flow diagram 1000 illustrating an example process forvalidating a location estimate performed at a host vehicle, such as HV902. Similar to the diagram illustrated with respect to FIG. 9 , callflow diagram 1000 shows multiple remote vehicles (RVs) 1002, 1004, and1008, in communication with an ego-vehicle/host vehicle (HV) 1006.Initially, HV 1006 transmits/broadcasts a location estimate (block1010). As discussed above, the location estimate provided by HV 1006 canindicate an estimated location of HV 1006 as measured by one or moreonboard systems of HV 1006. Although various message formats may beused, in some implementations the location estimate may be provided in aBSM, for example, that is received by various RVs in the vicinity, e.g.,RV1 1002, RV2 1004, and RV3 1008. Once the BSM from HV 1006 has beenreceived by the various RVs, one or more of the RVs can compare theestimated location data from the BSM with independent position/locationestimates of HV 1006. For example, RV1 1002 can perform a localizationprocess that identifies a location of HV 1006, e.g., using one or moresensors, and/or utilizing RSSI information corresponding with HV 1006(block 1012). Depending on the desired implementation and vehicleconfigurations, one or more additional other RVs may perform a similarlocalization process, for example, where each RV independently estimatesa location of HV 1006. In some examples, the (true or actual) locationof HV 1006, as estimated by one or more of RVs 1002, 1004, and/or 1008,can be provided to HV 1006 via a SDSM/CPM that is broadcast by one ormore of the RVs (block 1014). By comparing the location estimatesreceived from one or more of RVs 1002, 1004, and/or 1008, HV 1006 candetermine if its originally reported location information is accurate.As discussed above, determinations that a location estimate has beenincorrectly reported may trigger different actions by HV 1006; forexample, HV 1006 may update its location information and/or may halt orreschedule one or more subsequent BSM transmissions.

In some cases, such as when the HV 1006 receives multiple messages(e.g., SDSMs and/or CPMs) from one or more RVs (e.g., from one or moreof the RV1 1002, RV2 1004, and/or RV3 1006), the HV 1006 can build trustin their reports based on one or more criteria or factors, such as atype of the RV (e.g., Onboard Unit (OBU), an RSU, or a network entitysuch as a gNB, a Multi-access Edge Computing (MEC) device, or othernetwork entity), a method used by the RV to detect the erroneouslocation of the HV 1006, the reliability of the on-bard and/or C-V2Xsensors of the RV, the number of RVs reporting the erroneous location ofthe HV 1006, any combination thereof and/or other criteria or factors.

For instance, the HV 1006 can learn to trust a particular RV based onwhether the RV is an OBU, an RSU, or a network entity (e.g., a gNB or anMEC). In one illustrative example, the HV 1006 can confide more in dataand thus trust the data received from non-OBUs (e.g., an RSU or networkentity such as a gNB or MEC) because non-OBUs are stationary, may havebetter range detection accuracy, and may have more computation power(e.g., in which case the non-OBUs may be more likely to use advancedranging techniques).

In some examples, the HV 1006 can learn to trust a particular RV basedon the method used by the RV to detect the erroneous location of the HV1006. For instance, the HV 1006 can trust information from an RV more ifthe RV uses a regression model to detect the erroneous location, such asopposed to RSSI matching or other location detection technique.

In some aspects, the HV 1006 can learn to trust a particular RV based onthe reliability of the RV’s on-board and C-V2X sensors. For instance,the HV 1006 can consider factors including last calibration status andcapabilities of radar sensors, LiDAR sensors, and/or cameras sensors(e.g., if used for ranging), an Automotive Safety Integrity Level (ASIL)rating of the sensors of the RV (e.g., the C-V2X sensor) to ensurefunctionally safe operation, among others.

In some cases, the HV 1006 can learn to trust a particular RV based on anumber of RVs reporting the erroneous location of the HV 1006. Forinstance, the higher the number of messages received from RVs reportingthe erroneous location of the HV 1006, the HV 1006 can consider themessages as being more trustworthy.

In one illustrative example, the HV 1006 can use a metric such as T =max(1, ∑_(SDSMi) α_(i)). The term i refers to the SDSM originator (e.g.,the particular RV) reporting the erroneous location of the HV 1006. Atrust indicator α_(i) (e.g., 0 ≤ α_(i) ≤ 1) can be assigned to each SDSMoriginator (e.g., each RV) based on the type of the RV (e.g., OBU, RSU,network entity, etc.), the method used by the RV to detect the erroneouslocation of the HV 1006, the reliability of the on-bard and/or C-V2Xsensors of the RV, any combination thereof, and/or based on otherfactors. The term T can be referred to as a trust metric in some cases.The trust metric includes a summation over all the received SDSMs fromthe RVs (e.g., RV1 1002, the RV2 1004, and/or the RV3 1008) that arereporting the HV 1006 as having an erroneous location. The higher the Tvalue, the more trustworthy the messages from the RVs (e.g., the RV11002, the RV2 1004, and/or the RV3 1008). For example, when T >Threshold (indicating that the RV is reliable or trustworthy), the HV1006 can determine that location of the HV 1006 that it reported iserroneous based on a high level of trust in the reports (e.g., viaSDSMs) from the RVs (e.g., the RV1 1002, the RV2 1004, and/or the RV31008). In such cases, a report from a more reliable source (e.g., basedon the factors/criteria described above) can amount to that of multiplereports from less reliable or trustworthy RVs. In some cases, the valueof Threshold can be determined or chosen in the range of 0 ≤ Threshold ≤1 based on, for example, the confidence of the HV 1006 in its ownon-board sensors that were used to determine its own location, where ahigher confidence in its own sensors can result in higher Thresholdvalue (which would require more trustworthy RVs for the Threshold to beexceeded).

Once the HV 1006 is aware or trusts that its own location is erroneous(e.g., the location has been spoofed), the HV 1006 can determine itstrue location based on messages (e.g., SDSMs) from other devices (e.g.,from the RV1 1002, the RV2 1004, and/or the RV3 1008). In some examples,the HV 1006 can perform triangulation or other technique to estimate itstrue location based on location of RVs and reported indicators of signalstrength (e.g., RSSIs) from incoming messages (e.g., from incomingSDSMs). In some cases, the HV 1006 can use a representative value (e.g.,a mean or average, a weighted average, or other representative value ormetric) of its estimated true location embedded in the messages (e.g.,the SDSM messages). In some aspects, the HV 1006 can use the values ofthe α_(i) parameter noted above to assign appropriate weights tocontributions from each message originator (e.g., SDSM originator, suchas RV1 1002, RV2 1004, and/or RV3 1006) based on their reliabilityfactor.

In some aspects, if one or more of the RVs determine that the HV 1006 isstill sending messages (e.g., BSMs) with an erroneous location for apredetermined duration even after being informed through messages fromthe RVs (e.g., via SDSMs and/or CPMs), the RVs can determine that the HV1006 is a misbehaving vehicle and can in some cases mark the HV 1006 asa misbehaving vehicle (e.g., in one or more SDSMs and/or CPMs).

FIG. 11 and FIG. 12 illustrate examples of Sensor Data Sharing Messages(SDSMs), such as SDSMs that can be transmitted by one or more of the RV11002, RV2 1004, and/or RV3 1006 and received by the HV 1006 of FIG. 10 .In the example SDSM 1100 illustrated in FIG. 11 , source data 1102 mayinclude information related to the reporting device, such as the RV11002, RV2 1004, and/or RV3 1006 of FIG. 10 ). Detected object data 1104may include information, such as information associated with a spoofedvehicle (e.g., the HV 10006 of FIG. 10 ) that is reported by thereporting device, as discussed above with respect to FIG. 9 and FIG. 10. The data 1106 includes information or data associated with a detectedlocation-spoofed vehicle (e.g., the location-spoofed HV 1006). As shown,the information or data associated with a detected location-spoofedvehicle included in the data 1106 can include aDetectedLocationSpoofedVehicleData field or information element (IE).The information or data associated with the location-spoofed vehicle(e.g., the DetectedLocationSpoofedVehicleData field or IE) can includean identifier (ID) (e.g., as Layer 2 (L2) address or other ID) of thelocation-spoofed vehicle, a temporary ID (or temp ID), a certificatedigest, a “claimed” false location of the location-spoofed vehicle thatthe location-spoofed vehicle reported in a message (e.g., a BSM sent bythe location-spoofed vehicle), an indication of signal strength (e.g., areceived signal strength indicator (RSSI) or other indicator of signalstrength) from the location-spoofed vehicle, the detection method (e.g.,using RSSI matching, using sidelink positioning, using one or moreregression models, etc.) used by the RV to detect the location-spoofedvehicle (e.g., to determine that the vehicle is misrepresenting itself),any combination thereof, and/or other information. In some cases, commondata or information in the SDSM 1100 (shown in FIG. 11 as aDetectedObjectCommonData field or IE) for the detected object (thelocation-spoofed vehicle) can include the “detected” or estimatedposition of the location-spoofed vehicle determined by the RV reportingthe SDSM 1100.

The diagram 1200 of FIG. 12 further illustrates location-spoofed vehicledata 1206 (e.g., the DetectedLocationSpoofedVehicleData field or IE ofthe data 1106 in FIG. 11 ) in the detected object data 1202 as aparticular detected or perceived object (shown as perceived object 1).The detected object data 1202 may further include data 1204 relating tophysical obstacles (e.g., potholes, VRUs, non-V2X vehicles), datarelating to detected objects that interfere with wireless resources orspectrum used in cooperative and automated driving decisions, and/orother data.

FIG. 13 is a flow diagram of an example process 1300 for validatingtimestamp information received from a navigation system, according tosome aspects of the present disclosure. At block 1302, the process 1300includes receiving navigation timestamp information (e.g., by a firstwireless device) from a navigation system at a first instance and asecond instance. As discussed above, the first wireless device can be avehicle, or a vehicle system, such as an Onboard Unit (OBU). Thenavigation system can include a global navigation satellite system(GNSS) or other navigation system.

At block 1304, the process 1300 includes determining a navigation systemtime difference based on the navigation timestamp information at thefirst instance and the second instance. At block 1306, the process 1300includes receiving, from a second wireless device, network timestampinformation at the first instance and the second instance. In someimplementations, the second wireless device is a network entity, such asa base station, e.g., a gNodeB (gNB) or a Roadside Unit (RSU), or thelike.

At block 1308, the process 1300 includes determining a network timedifference based on the network timestamp information at the firstinstance and the second instance. At block 1310, the process 1300includes whether time reporting by the navigation system is correctbased on the navigation system time difference and the network timedifference. In some aspects, comparisons of time differences (deltas)between systems, e.g., between the navigation system and the network,can include a function or transformation of one time format into theother. For example, a conversion may be performed to convert a timestampfrom a Wireless Wide Area Network (WWAN) format, into a GlobalNavigation Satellite System (GNSS) format, and vice versa.

As discussed above, a threshold (or predetermined threshold) may be usedto determine when time reporting is in error. For example, ifdifferences (deltas) between navigation system timestamps and networktimestamps exceed a threshold, then time keeping may be determined to bein error, e.g., for the navigation system. In one example, to determinewhether time reporting by the navigation system has been spoofed basedon the navigation system time difference and the network timedifference, the process 1400 can include determining an absolutedifference between the navigation system time difference and the networktime difference and determining that the time reporting by thenavigation system has been spoofed based on a determination that theabsolute difference exceeds a spoofing threshold. In some cases, thespoofing threshold is based on a propagation delay from the wirelessdevice to the apparatus, a Time Division Duplex (TDD) synchronizationmismatch associated with the wireless device, a disparity in propagationdelays experience by the apparatus during network handovers, a mismatchbetween network timing of various Mobile Network Operators (MNOs), orany combination thereof.

In some examples, the process 1300 can include associating the networktimestamp information at the second instance with the navigation systembased on a determination that that the time reporting by the navigationsystem has not been spoofed. For example, a vehicle can update itsreference time with the network timestamp information at the secondinstance. The updated reference time can then be used to transmit one ormore messages (e.g., BSMs, SDSMs, etc.) or for other operations.

FIG. 14 is a flow diagram of an example process 1400 for validating adetected object, in accordance with some aspects of the presentdisclosure. At block 1402, a first wireless device (e.g., a hostvehicle, an On-Board Unit (OBU) of a host vehicle, etc.) can transmit afirst message including a first location estimate of the first wirelessdevice. The first location estimate is an estimated location of thefirst wireless device (e.g., host vehicle). In some implementations, thefirst message can include a Basic Safety Message (BSM). For instance,the first wireless device can transmit the first location estimate in aBSM, as discussed above with respect to FIG. 10 .

At block 1404, the process 1400 includes receiving, from a secondwireless device (e.g., a remove vehicle), a second message including asecond location estimate of the first wireless device (e.g., hostvehicle) determined by the second wireless device. In some examples, thesecond wireless device is a vehicle, Road Side Unit (RSU), or otherdevice. In some implementations, the first message can include a SensorData Sharing Message (SDSM).

In some examples, the second location estimate can be received from aremote vehicle (RV), for example, that has independentlyestimated/measured a location of the first wireless device. By way ofexample, the second wireless device can determine the second locationestimate based on sensor data (e.g., LiDAR, radar, and/or camera data)that is collected by one or more onboard sensors of the second wirelessdevice. In another example, the second wireless device can determine thesecond location estimate based on a Received Signal Strength Indicator(RSSI) metric (e.g., by matching an RSSI with the first locationestimate of the first wireless device). In another example, the secondwireless device can determine the second location estimate based on asidelink positioning process. In another example, the second wirelessdevice can determine the second location estimate based on a trainedregression model (e.g., that correlates distance with RSSI).

At block 1406, the process 1400 includes determining, by the firstwireless device, whether the first location estimate is accurate basedon the second location estimate. By way of example, the first wirelessdevice may compare the second location estimate of the first wirelessdevice with the first location estimate of the wireless device. In caseswhere the different location estimates differ by a significant threshold(e.g., beyond the magnitude of typical positioning errors or sensornoise), then the first wireless device can use the second locationestimate to update its position/location information. In someimplementations, a detection of erroneous reporting by the firstwireless device trigger changes to location reporting activitiesperformed by the first wireless device. For example, the first wirelessdevice may determine not to transmit (e.g., halt or cease transmissionof) one or more messages based on a determination that the firstlocation estimate is inaccurate. In another example, the first wirelessdevice may delay or reschedule one or more planned BSM transmissionsbased on a determination that the first location estimate is inaccurate.

In some examples, the process 1400 can include determining a level oftrust for the message based on one or more factors associated with thesecond wireless device and one or more other wireless devices (e.g., oneor more other remote vehicles). For instance, the one or more factorsassociated with the second wireless device and the one or more othersecond wireless devices can include a device type, a method used todetermine location estimates of the first wireless device, reliabilityof one or more sensors of the first wireless device and the one or moreother wireless devices, a number of devices reporting an erroneouslocation estimate of the apparatus, or any combination thereof. In somecases, to determine whether the first location estimate is accuratebased on the second location estimate, the process 1400 can includeupdating a trust metric based on the one or more factors associated withat least one of the device and the at least one other device. In oneillustrative example, the trust metric can include T = max(1, ∑_(SDSMi)α_(i)) as described above. The process 1400 can include determiningwhether the trust metric is greater than a threshold (e.g., theThreshold described above) and determining whether the first locationestimate is accurate based on whether the updated trust metric isgreater than the threshold. In some cases, the process 1400 can includedetermining that the first location estimate is inaccurate based on adetermination that the trust metric is greater than the threshold. Forinstance, if an HV determines that the trust metric is greater than thethreshold, the HV can determine that the first location estimate isinaccurate.

In some cases, the process 1400 can include determining an additionallocation estimate of the apparatus based on a location of the device andat least one location of at least one other device and based on anindication of signal strength reported in the second message and atleast one indication of signal strength reported in at least one messageof the at least one other device. In some cases, the process 1400 caninclude determining an additional location estimate of the apparatusbased on the second location estimate of the apparatus included in thesecond message and at least one location estimate of the apparatusincluded in at least one message of at least one other device. Forinstance, to determine the additional location estimate of theapparatus, the process 1400 can include determining an average of thesecond location estimate of the apparatus included in the second messageand the at least one location estimate of the apparatus included in theat least one message of the at least one other device.

FIG. 15 is a diagram 1500 illustrating an example of a hardwareimplementation for an apparatus 1502. The apparatus 1502 is a UE andincludes a cellular baseband processor 1504 (also referred to as amodem) coupled to a cellular RF transceiver 1522 and one or moresubscriber identity modules (SIM) cards 1520, an application processor1506 coupled to a secure digital (SD) card 1508 and a screen 1510, aBluetooth module 1512, a wireless local area network (WLAN) module 1514,a GNSS module 1516, and a power supply 1518. The GNSS module 1516 maycomprise a variety of satellite positioning systems. For example, theGNSS module may correspond to Global Positioning System (GPS), GlobalNavigation Satellite System (GLONASS), Galileo, BeiDou NavigationSatellite System (BDS), Wide Area Augmentation System (WAAS), EuropeanGeostationary Navigation Overlay Service (EGNOS), GPS Aided GEOAugmented Navigation (GAGAN), Multifunctional Transport Satellites(MTSAT) Satellite Augmentation System (MSAS), Quasi-Zenith SatelliteSystem (QZSS), or Navigation with Indian Constellation (NavIC). Thecellular baseband processor 1504 communicates through the cellular RFtransceiver 1522 with the UE 104 and/or BS 102/180. The cellularbaseband processor 1504 may include a computer-readable medium / memory.The computer-readable medium / memory may be non-transitory. Thecellular baseband processor 1504 is responsible for general processing,including the execution of software stored on the computer-readablemedium / memory. The software, when executed by the cellular basebandprocessor 1504, causes the cellular baseband processor 1504 to performthe various functions described supra. The computer-readable medium /memory may also be used for storing data that is manipulated by thecellular baseband processor 1504 when executing software. The cellularbaseband processor 1504 further includes a reception component 1530, acommunication manager 1532, and a transmission component 1534. Thecommunication manager 1532 includes the one or more illustratedcomponents, including a detection component 1540 configured to detectone or more objects and a message component 1542 configured to generateone or more messages (e.g., SDSMs, CPMs, BSMs, etc.). The componentswithin the communication manager 1532 may be stored in thecomputer-readable medium / memory and/or configured as hardware withinthe cellular baseband processor 1504. The cellular baseband processor1504 may be a component of the UE 350 and may include the memory 360and/or at least one of the TX processor 368, the RX processor 356, andthe controller/processor 359. In one configuration, the apparatus 1502may be a modem chip and include just the baseband processor 1504, and inanother configuration, the apparatus 1502 may be the entire UE (e.g.,see 350 of FIG. 3 ) and include the aforediscussed additional modules ofthe apparatus 1502.

The apparatus may include additional components that perform each of theblocks of the algorithm in the aforementioned flowcharts of FIGS. 13 or14 . As such, each block in the aforementioned flowcharts of FIGS. 13 or14 may be performed by a component and the apparatus may include one ormore of those components. The components may be one or more hardwarecomponents specifically configured to carry out the statedprocesses/algorithm, implemented by a processor configured to performthe stated processes/algorithm, stored within a computer-readable mediumfor implementation by a processor, or some combination thereof.

In one configuration, the apparatus 1502, and in particular the cellularbaseband processor 1504, includes means for receiving, from a firstwireless device, a message indicating a threat entity within a threatzone. The threat entity transmits data that interferes with transmissionof BSMs. The apparatus includes means for determining a candidateresource of a set of candidate resources on which to transmit a BSMbased at least in part on the message indicating information related tothe threat entity from the first wireless device. The apparatus includesmeans for transmitting, to at least a third wireless device, the BSM ona determined candidate resource. The apparatus further includes meansfor excluding one or more candidate resources in the set of candidateresources based on a projected RSRP for each candidate resource in theset of candidate resources exceeding an RSRP threshold to determine afirst subset of candidate resources. The apparatus further includesmeans for ranking the first subset of candidate resources based on aweighted RSSI ranking to obtain a second subset of candidate resourceswith a lowest weighted RSSI. The second subset of candidate resources isa portion of the first subset of candidate resources. The apparatusfurther includes means for selecting a candidate resource from thesecond subset of candidate resources. The apparatus further includesmeans for excluding one or more virtually sensed candidate resources inthe set of candidate resources having an RSSI that exceeds a pre-filterthreshold to obtain a filtered subset of candidate resources that do notexceed the pre-filter threshold. The apparatus further includes meansfor excluding candidate resources within the filtered subset ofcandidate resources that do not exceed the pre-filter threshold thatexceed an RSRP threshold to obtain a second subset of candidateresources that do not exceed the RSRP threshold. The apparatus furtherincludes means for selecting the candidate resource from the secondsubset of candidate resources. The aforementioned means may be one ormore of the aforementioned components of the apparatus 1502 configuredto perform the functions recited by the aforementioned means.

Specific details are provided in the description above to provide athorough understanding of the embodiments and examples provided herein,but those skilled in the art will recognize that the application is notlimited thereto. Thus, while illustrative embodiments of the applicationhave been described in detail herein, it is to be understood that theinventive concepts may be otherwise variously embodied and employed, andthat the appended claims are intended to be construed to include suchvariations, except as limited by the prior art. Various features andaspects of the above-described application may be used individually orjointly. Further, embodiments can be utilized in any number ofenvironments and applications beyond those described herein withoutdeparting from the broader spirit and scope of the specification. Thespecification and drawings are, accordingly, to be regarded asillustrative rather than restrictive. For the purposes of illustration,methods were described in a particular order. It should be appreciatedthat in alternate embodiments, the methods may be performed in adifferent order than that described.

For clarity of explanation, in some instances the present technology maybe presented as including individual functional blocks comprisingdevices, device components, steps or routines in a method embodied insoftware, or combinations of hardware and software. Additionalcomponents may be used other than those shown in the figures and/ordescribed herein. For example, circuits, systems, networks, processes,and other components may be shown as components in block diagram form inorder not to obscure the embodiments in unnecessary detail. In otherinstances, well-known circuits, processes, algorithms, structures, andtechniques may be shown without unnecessary detail in order to avoidobscuring the embodiments.

Further, those of skill in the art will appreciate that the variousillustrative logical blocks, modules, circuits, and algorithm stepsdescribed in connection with the aspects disclosed herein may beimplemented as electronic hardware, computer software, or combinationsof both. To clearly illustrate this interchangeability of hardware andsoftware, various illustrative components, blocks, modules, circuits,and steps have been described above generally in terms of theirfunctionality. Whether such functionality is implemented as hardware orsoftware depends upon the particular application and design constraintsimposed on the overall system. Skilled artisans may implement thedescribed functionality in varying ways for each particular application,but such implementation decisions should not be interpreted as causing adeparture from the scope of the present disclosure.

Individual embodiments may be described above as a process or methodthat is depicted as a flowchart, a flow diagram, a data flow diagram, astructure diagram, or a block diagram. Although a flowchart may describethe operations as a sequential process, many of the operations can beperformed in parallel or concurrently. In addition, the order of theoperations may be re-arranged. A process is terminated when itsoperations are completed, but could have additional steps not includedin a figure. A process may correspond to a method, a function, aprocedure, a subroutine, a subprogram, etc. When a process correspondsto a function, its termination can correspond to a return of thefunction to the calling function or the main function.

Processes and methods according to the above-described examples can beimplemented using computer-executable instructions that are stored orotherwise available from computer-readable media. Such instructions caninclude, for example, instructions and data that cause or otherwiseconfigure a general-purpose computer, special purpose computer, or aprocessing device to perform a certain function or group of functions.Portions of computer resources used can be accessible over a network.The computer executable instructions may be, for example, binaries,intermediate format instructions such as assembly language, firmware,source code. Examples of computer-readable media that may be used tostore instructions, information used, and/or information created duringmethods according to described examples include magnetic or opticaldisks, flash memory, USB devices provided with non-volatile memory,networked storage devices, and so on.

Examples of a non-transitory medium may include, but are not limited to,a magnetic disk or tape, optical storage media such as compact disk (CD)or digital versatile disk (DVD), flash memory, memory or memory devices.A computer-readable medium may have stored thereon code and/ormachine-executable instructions that may represent a procedure, afunction, a subprogram, a program, a routine, a subroutine, a module, asoftware package, a class, or any combination of instructions, datastructures, or program statements. A code segment may be coupled toanother code segment or a hardware circuit by passing and/or receivinginformation, data, arguments, parameters, or memory contents.Information, arguments, parameters, data, etc. may be passed, forwarded,or transmitted via any suitable means including memory sharing, messagepassing, token passing, network transmission, or the like. In someexamples, the computer-readable storage devices, mediums, and memoriescan include a cable or wireless signal containing a bitstream and thelike. However, when mentioned, non-transitory computer-readable storagemedia expressly exclude media such as energy, carrier signals,electromagnetic waves, and signals per se.

Those of skill in the art will appreciate that information and signalsmay be represented using any of a variety of different technologies andtechniques. For example, data, instructions, commands, information,signals, bits, symbols, and chips that may be referenced throughout theabove description may be represented by voltages, currents,electromagnetic waves, magnetic fields or particles, optical fields orparticles, or any combination thereof, in some cases depending in parton the particular application, in part on the desired design, in part onthe corresponding technology, etc.

The various illustrative logical blocks, modules, and circuits describedin connection with the aspects disclosed herein may be implemented orperformed using hardware, software, firmware, middleware, microcode,hardware description languages, or any combination thereof, and can takeany of a variety of form factors. When implemented in software,firmware, middleware, or microcode, the program code or code segments toperform the necessary tasks (e.g., a computer-program product) may bestored in a computer-readable or machine-readable medium. A processor(s)may perform the necessary tasks. Examples of form factors includelaptops, smart phones, mobile phones, tablet devices or other small formfactor personal computers, personal digital assistants, rackmountdevices, standalone devices, and so on. Functionality described hereinalso can be embodied in peripherals or add-in cards. Such functionalitycan also be implemented on a circuit board among different chips ordifferent processes executing in a single device, by way of furtherexample.

The instructions, media for conveying such instructions, computingresources for executing them, and other structures for supporting suchcomputing resources are example means for providing the functionsdescribed in the disclosure.

The techniques described herein may also be implemented in electronichardware, computer software, firmware, or any combination thereof. Suchtechniques may be implemented in any of a variety of devices such asgeneral purposes computers, wireless communication device handsets, orintegrated circuit devices having multiple uses including application inwireless communication device handsets and other devices. Any featuresdescribed as modules or components may be implemented together in anintegrated logic device or separately as discrete but interoperablelogic devices. If implemented in software, the techniques may berealized at least in part by a computer-readable data storage mediumcomprising program code including instructions that, when executed,performs one or more of the methods, algorithms, and/or operationsdescribed above. The computer-readable data storage medium may form partof a computer program product, which may include packaging materials.The computer-readable medium may comprise memory or data storage media,such as random access memory (RAM) such as synchronous dynamic randomaccess memory (SDRAM), read-only memory (ROM), non-volatile randomaccess memory (NVRAM), electrically erasable programmable read-onlymemory (EEPROM), FLASH memory, magnetic or optical data storage media,and the like. The techniques additionally, or alternatively, may berealized at least in part by a computer-readable communication mediumthat carries or communicates program code in the form of instructions ordata structures and that can be accessed, read, and/or executed by acomputer, such as propagated signals or waves.

The program code may be executed by a processor, which may include oneor more processors, such as one or more digital signal processors(DSPs), general purpose microprocessors, an application specificintegrated circuits (ASICs), field programmable logic arrays (FPGAs), orother equivalent integrated or discrete logic circuitry. Such aprocessor may be configured to perform any of the techniques describedin this disclosure. A general-purpose processor may be a microprocessor;but in the alternative, the processor may be any conventional processor,controller, microcontroller, or state machine. A processor may also beimplemented as a combination of computing devices, e.g., a combinationof a DSP and a microprocessor, a plurality of microprocessors, one ormore microprocessors in conjunction with a DSP core, or any other suchconfiguration. Accordingly, the term “processor,” as used herein mayrefer to any of the foregoing structure, any combination of theforegoing structure, or any other structure or apparatus suitable forimplementation of the techniques described herein.

One of ordinary skill will appreciate that the less than (“<”) andgreater than (“>”) symbols or terminology used herein can be replacedwith less than or equal to (“≤”) and greater than or equal to (“≥”)symbols, respectively, without departing from the scope of thisdescription.

Where components are described as being “configured to” perform certainoperations, such configuration can be accomplished, for example, bydesigning electronic circuits or other hardware to perform theoperation, by programming programmable electronic circuits (e.g.,microprocessors, or other suitable electronic circuits) to perform theoperation, or any combination thereof.

The phrase “coupled to” refers to any component that is physicallyconnected to another component either directly or indirectly, and/or anycomponent that is in communication with another component (e.g.,connected to the other component over a wired or wireless connection,and/or other suitable communication interface) either directly orindirectly.

Claim language or other language reciting “at least one of” a set and/or“one or more” of a set indicates that one member of the set or multiplemembers of the set (in any combination) satisfy the claim. For example,claim language reciting “at least one of A and B” or “at least one of Aor B” means A, B, or A and B. In another example, claim languagereciting “at least one of A, B, and C” or “at least one of A, B, or C”means A, B, C, or A and B, or A and C, or B and C, or A and B and C. Thelanguage “at least one of” a set and/or “one or more” of a set does notlimit the set to the items listed in the set. For example, claimlanguage reciting “at least one of A and B” or “at least one of A or B”can mean A, B, or A and B, and can additionally include items not listedin the set of A and B.

Illustrative aspects of the disclosure include:

-   Aspect 1: An apparatus for detecting one or more timing errors, the    apparatus comprising: at least one transceiver; at least one memory;    and at least one processor coupled to the at least one transceiver    and the at least one memory and configured to: receive, from a    navigation system, navigation timestamp information at a first    instance and a second instance; determine a navigation system time    difference based on the navigation timestamp information at the    first instance and the second instance; receive, from a wireless    device, network timestamp information at the first instance and the    second instance; determine a network time difference based on the    network timestamp information at the first instance and the second    instance; and determine whether time reporting by the navigation    system is correct based on the navigation system time difference and    the network time difference.-   Aspect 2: The apparatus of Aspect 1, wherein the at least one    processor is configured to: associate the network timestamp    information at the second instance with the navigation system based    on a determination that that the time reporting by the navigation    system has not been spoofed.-   Aspect 3: The apparatus of any of Aspects 1 to 2, wherein, to    determine whether time reporting by the navigation system has been    spoofed based on the navigation system time difference and the    network time difference, the at least one processor is configured    to: determine an absolute difference between the navigation system    time difference and the network time difference; and determine that    the time reporting by the navigation system has been spoofed based    on a determination that the absolute difference exceeds a spoofing    threshold.-   Aspect 4: The apparatus of Aspect 3, wherein the spoofing threshold    is based on at least one of a propagation delay from the wireless    device to the apparatus, a Time Division Duplex (TDD)    synchronization mismatch associated with the wireless device, a    disparity in propagation delays experience by the apparatus during    network handovers, a mismatch between network timing of various    Mobile Network Operators (MNOs), or any combination thereof.-   Aspect 5: The apparatus of any of Aspects 1 to 4, wherein the    wireless device is a base station or a Roadside Unit (RSU).-   Aspect 6: The apparatus of Aspect 5, wherein base station is a    gNodeB (gNB).-   Aspect 7: The apparatus of any of Aspects 1 to 6, wherein the    navigation system includes a global navigation satellite system    (GNSS).-   Aspect 8: The apparatus of any of Aspects 1 to 7, wherein the    apparatus is a vehicle.-   Aspect 9: The apparatus of any of Aspects 1 to 8, wherein the    apparatus is an Onboard Unit (OBU).-   Aspect 10: A method of detecting one or more timing errors by a    device, comprising: receiving, from a navigation system, navigation    timestamp information at a first instance and a second instance;    determining a navigation system time difference based on the    navigation timestamp information at the first instance and the    second instance; receiving, from a wireless device, network    timestamp information at the first instance and the second instance;    determining a network time difference based on the network timestamp    information at the first instance and the second instance; and    determining whether time reporting by the navigation system is    correct based on the navigation system time difference and the    network time difference.-   Aspect 11: The method of Aspect 10, further comprising: associating    the network timestamp information at the second instance with the    navigation system based on a determination that that the time    reporting by the navigation system has not been spoofed.-   Aspect 12: The method of any of Aspects 10 to 11, wherein    determining whether time reporting by the navigation system has been    spoofed based on the navigation system time difference and the    network time difference includes: determining an absolute difference    between the navigation system time difference and the network time    difference; and determining that the time reporting by the    navigation system has been spoofed based on a determination that the    absolute difference exceeds a spoofing threshold.-   Aspect 13: The method of Aspect 12, wherein the spoofing threshold    is based on at least one of a propagation delay from the wireless    device to the device, a Time Division Duplex (TDD) synchronization    mismatch associated with the wireless device, a disparity in    propagation delays experience by the device during network    handovers, a mismatch between network timing of various Mobile    Network Operators (MNOs), or any combination thereof.-   Aspect 14: The method of any of Aspects 10 to 13, wherein the    wireless device is a base station or a Roadside Unit (RSU).-   Aspect 15: The method of Aspect 14, wherein base station is a gNodeB    (gNB).-   Aspect 16: The method of any of Aspects 10 to 15, wherein the    navigation system includes a global navigation satellite system    (GNSS).-   Aspect 17: The method of any of Aspects 10 to 16, wherein the device    is a vehicle.-   Aspect 18: The method of any of Aspects 10 to 17, wherein the device    is an Onboard Unit (OBU).-   Aspect 19: A non-transitory computer-readable storage medium    comprising at least one instruction for causing a computer or    processor to perform operations according to any of Aspects 1 to 18.-   Aspect 25: An apparatus for detecting one or more timing errors, the    apparatus comprising: means for performing operations according to    any of Aspects 1 to 18.-   Aspect 26: An apparatus for determining one or more location errors,    the apparatus comprising: at least one transceiver; at least one    memory; and at least one processor coupled to the at least one    transceiver and the at least one memory and configured to: transmit,    via the at least one transceiver to a device, a first message    comprising a first location estimate of the apparatus; receive, via    the at least one transceiver from the device, a second message    comprising a second location estimate of the apparatus determined by    the device; and determine whether the first location estimate is    accurate based on the second location estimate.-   Aspect 27: The apparatus of Aspect 26, wherein the first message    includes a Basic Safety Message (BSM).-   Aspect 28: The apparatus of any of Aspects 26 to 27, wherein the    second message include a Sensor Data Sharing Message (SDSM).-   Aspect 29: The apparatus of any of Aspects 26 to 28, wherein the at    least one processor is configured to: update a location estimate of    the apparatus based on the second location estimate based on a    determination that the first location estimate is not accurate.-   Aspect 30: The apparatus of Aspect 29, wherein the at least one    processor is configured to: determine a level of trust for the    message based on one or more factors associated with at least one of    the device and at least one other device.-   Aspect 31: The apparatus of Aspect 30, wherein the one or more    factors associated with at least one of the device and the at least    one other device include at least one of a type of the device, a    method used by the device to determine the second location estimate    of the apparatus, a reliability of one or more sensors of the    device, number of devices reporting an erroneous location estimate    of the apparatus, or a combination thereof.-   Aspect 32: The apparatus of any of Aspects 30 to 31, wherein, to    determine whether the first location estimate is accurate based on    the second location estimate, the at least one processor is    configured to: update a trust metric based on the one or more    factors associated with at least one of the device and the at least    one other device; determine whether the trust metric is greater than    a threshold; and determine whether the first location estimate is    accurate based on whether the updated trust metric is greater than    the threshold.-   Aspect 33: The apparatus of Aspect 32, wherein the at least one    processor is configured to: determine that the first location    estimate is inaccurate based on a determination that the trust    metric is greater than the threshold.-   Aspect 34: The apparatus of any of Aspects 26 to 33, wherein the at    least one processor is configured to: determine an additional    location estimate of the apparatus based on a location of the device    and at least one location of at least one other device and based on    an indication of signal strength reported in the second message and    at least one indication of signal strength reported in at least one    message of the at least one other device.-   Aspect 35: The apparatus of any of Aspects 26 to 34, wherein the at    least one processor is configured to: determine an additional    location estimate of the apparatus based on the second location    estimate of the apparatus included in the second message and at    least one location estimate of the apparatus included in at least    one message of at least one other device.-   Aspect 36: The apparatus of Aspect 35, wherein, to determine the    additional location estimate of the apparatus, the at least one    processor is configured to: determine an average of the second    location estimate of the apparatus included in the second message    and the at least one location estimate of the apparatus included in    the at least one message of the at least one other device.-   Aspect 37: The apparatus of any of Aspects 26 to 36, wherein the at    least one processor is configured to: determine not to transmit one    or more messages based on a determination that the first location    estimate is inaccurate.-   Aspect 38: The apparatus of any of Aspects 26 to 37, wherein the at    least one processor is configured to: reschedule transmission of one    or more messages based on a determination that the first location    estimate is inaccurate.-   Aspect 39: The apparatus of any of Aspects 26 to 38, wherein the    second location estimate is based on a Received Signal Strength    Indicator (RSSI) metric.-   Aspect 40: The apparatus of any of Aspects 26 to 39, wherein the    second location estimate is based on a sidelink positioning process.-   Aspect 41: The apparatus of any of Aspects 26 to 30, wherein the    device is a Road Side Unit (RSU).-   Aspect 42: The apparatus of any of Aspects 26 to 41, wherein the    device is a vehicle.-   Aspect 43: The apparatus of any of Aspects 26 to 42, wherein the    apparatus is an On-Board Unit (OBU) of a vehicle.-   Aspect 44: A method of determining one or more location errors by a    first device, comprising: transmitting, via the at least one    transceiver to a second device, a first message comprising a first    location estimate of the first device; receive, from the second    device, a second message comprising a second location estimate of    the first device determined by the second device; and determine    whether the first location estimate is accurate based on the second    location estimate.-   Aspect 45: The method of Aspect 44, wherein the first message    includes a Basic Safety Message (BSM).-   Aspect 46: The method of any of Aspects 44 to 45, wherein the second    message include a Sensor Data Sharing Message (SDSM).-   Aspect 47: The method of any of Aspects 44 to 46, wherein the at    least one processor is configured to: update a location estimate of    the first device based on the second location estimate based on a    determination that the first location estimate is not accurate.-   Aspect 48: The method of Aspect 47, wherein the at least one    processor is configured to: determine a level of trust for the    message based on one or more factors associated with at least one of    the second device and at least one other device.-   Aspect 49: The method of Aspect 48, wherein the one or more factors    associated with at least one of the second device and the at least    one other device include at least one of a type of the second    device, a method used by the second device to determine the second    location estimate of the first device, a reliability of one or more    sensors of the second device, number of devices reporting an    erroneous location estimate of the first device, or a combination    thereof.-   Aspect 50: The method of any of Aspects 48 to 49, wherein, to    determine whether the first location estimate is accurate based on    the second location estimate, the at least one processor is    configured to: update a trust metric based on the one or more    factors associated with at least one of the second device and the at    least one other device; determine whether the trust metric is    greater than a threshold; and determine whether the first location    estimate is accurate based on whether the updated trust metric is    greater than the threshold.-   Aspect 51: The method of Aspect 50, wherein the at least one    processor is configured to: determine that the first location    estimate is inaccurate based on a determination that the trust    metric is greater than the threshold.-   Aspect 52: The method of any of Aspects 44 to 51, wherein the at    least one processor is configured to: determine an additional    location estimate of the first device based on a location of the    second device and at least one location of at least one other device    and based on an indication of signal strength reported in the second    message and at least one indication of signal strength reported in    at least one message of the at least one other device.-   Aspect 53: The method of any of Aspects 44 to 52, wherein the at    least one processor is configured to: determine an additional    location estimate of the first device based on the second location    estimate of the first device included in the second message and at    least one location estimate of the first device included in at least    one message of at least one other device.-   Aspect 54: The method of Aspect 53, wherein, to determine the    additional location estimate of the first device, the at least one    processor is configured to: determine an average of the second    location estimate of the first device included in the second message    and the at least one location estimate of the first device included    in the at least one message of the at least one other device.-   Aspect 55: The method of any of Aspects 44 to 54, wherein the at    least one processor is configured to: determine not to transmit one    or more messages based on a determination that the first location    estimate is inaccurate.-   Aspect 56: The method of any of Aspects 44 to 55, wherein the at    least one processor is configured to: reschedule transmission of one    or more messages based on a determination that the first location    estimate is inaccurate.-   Aspect 57: The method of any of Aspects 44 to 56, wherein the second    location estimate is based on a Received Signal Strength Indicator    (RSSI) metric.-   Aspect 58: The method of any of Aspects 44 to 57, wherein the second    location estimate is based on a sidelink positioning process.-   Aspect 59: The method of any of Aspects 44 to 58, wherein the second    device is a Road Side Unit (RSU).-   Aspect 60: The method of any of Aspects 44 to 59, wherein the second    device is a vehicle.-   Aspect 61: The method of any of Aspects 44 to 60, wherein the first    device is an On-Board Unit (OBU) of a vehicle.-   Aspect 62: A non-transitory computer-readable storage medium    comprising at least one instruction for causing a computer or    processor to perform operations according to any of Aspects 26 to    61.-   Aspect 63: An apparatus for detecting one or more timing errors, the    apparatus comprising: means for performing operations according to    any of Aspects 26 to 61.

The previous description is provided to enable any person skilled in theart to practice the various aspects described herein. Variousmodifications to these aspects will be readily apparent to those skilledin the art, and the generic principles defined herein may be applied toother aspects. Thus, the claims are not intended to be limited to theaspects shown herein, but is to be accorded the full scope consistentwith the language claims, wherein reference to an element in thesingular is not intended to mean “one and only one” unless specificallyso stated, but rather “one or more.”

What is claimed is:
 1. An apparatus for detecting one or more timingerrors, the apparatus comprising: at least one transceiver; at least onememory; and at least one processor coupled to the at least onetransceiver and the at least one memory and configured to: receive, froma navigation system, navigation timestamp information at a firstinstance and a second instance; determine a navigation system timedifference based on the navigation timestamp information at the firstinstance and the second instance; receive, from a wireless device,network timestamp information at the first instance and the secondinstance; determine a network time difference based on the networktimestamp information at the first instance and the second instance; anddetermine whether time reporting by the navigation system is correctbased on the navigation system time difference and the network timedifference.
 2. The apparatus of claim 1, wherein the at least oneprocessor is configured to: associate the network timestamp informationat the second instance with the navigation system based on adetermination that that the time reporting by the navigation system hasnot been spoofed.
 3. The apparatus of claim 1, wherein, to determinewhether time reporting by the navigation system has been spoofed basedon the navigation system time difference and the network timedifference, the at least one processor is configured to: determine anabsolute difference between the navigation system time difference andthe network time difference; and determine that the time reporting bythe navigation system has been spoofed based on a determination that theabsolute difference exceeds a spoofing threshold.
 4. The apparatus ofclaim 3, wherein the spoofing threshold is based on at least one of apropagation delay from the wireless device to the apparatus, a TimeDivision Duplex (TDD) synchronization mismatch associated with thewireless device, a disparity in propagation delays experience by theapparatus during network handovers, a mismatch between network timing ofvarious Mobile Network Operators (MNOs), or any combination thereof. 5.The apparatus of claim 1, wherein the wireless device is a base stationor a Roadside Unit (RSU).
 6. The apparatus of claim 5, wherein basestation is a gNodeB (gNB).
 7. The apparatus of claim 1, wherein thenavigation system includes a global navigation satellite system (GNSS).8. The apparatus of claim 1, wherein the apparatus is a vehicle.
 9. Theapparatus of claim 1, wherein the apparatus is an Onboard Unit (OBU).10. A method of detecting one or more timing errors by a first wirelessdevice, comprising: receiving, from a navigation system, navigationtimestamp information at a first instance and a second instance;determining a navigation system time difference based on the navigationtimestamp information at the first instance and the second instance;receiving, from a second wireless device, network timestamp informationat the first instance and the second instance; determining a networktime difference based on the network timestamp information at the firstinstance and the second instance; and determining whether time reportingby the navigation system is correct based on the navigation system timedifference and the network time difference.
 11. The method of claim 10,further comprising: associating the network timestamp information at thesecond instance with the navigation system based on a determination thatthat the time reporting by the navigation system has not been spoofed.12. The method of claim 10, wherein determining whether time reportingby the navigation system has been spoofed based on the navigation systemtime difference and the network time difference includes: determining anabsolute difference between the navigation system time difference andthe network time difference; and determining that the time reporting bythe navigation system has been spoofed based on a determination that theabsolute difference exceeds a spoofing threshold.
 13. The method ofclaim 12, wherein the spoofing threshold is based on at least one of apropagation delay from the second wireless device to the first wirelessdevice, a Time Division Duplex (TDD) synchronization mismatch associatedwith the second wireless device, a disparity in propagation delaysexperience by the first wireless device during network handovers, amismatch between network timing of various Mobile Network Operators(MNOs), or any combination thereof.
 14. The method of claim 10, whereinthe second wireless device is a base station or a Roadside Unit (RSU).15. The method of claim 14, wherein base station is a gNodeB (gNB). 16.The method of claim 10, wherein the navigation system includes a globalnavigation satellite system (GNSS).
 17. The method of claim 10, whereinthe first wireless device is a vehicle.
 18. The method of claim 10,wherein the first wireless device is an Onboard Unit (OBU).
 19. Anon-transitory computer-readable storage medium of a first wirelessdevice comprising at least one instruction for causing a computer orprocessor to: receive, from a navigation system, navigation timestampinformation at a first instance and a second instance; determine anavigation system time difference based on the navigation timestampinformation at the first instance and the second instance; receive, froma second wireless device, network timestamp information at the firstinstance and the second instance; determine a network time differencebased on the network timestamp information at the first instance and thesecond instance; and determine whether time reporting by the navigationsystem is correct based on the navigation system time difference and thenetwork time difference.
 20. The computer-readable storage medium ofclaim 19, wherein the at least one instruction is configured to causethe computer or processor to: associate the network timestampinformation at the second instance with the navigation system based on adetermination that that the time reporting by the navigation system hasnot been spoofed.
 21. The computer-readable storage medium of claim 19,wherein, to determine whether time reporting by the navigation systemhas been spoofed based on the navigation system time difference and thenetwork time difference, the at least one instruction is configured tocause the computer or processor to: determine an absolute differencebetween the navigation system time difference and the network timedifference; and determine that the time reporting by the navigationsystem has been spoofed based on a determination that the absolutedifference exceeds a spoofing threshold.
 22. The computer-readablestorage medium of claim 21, wherein the spoofing threshold is based onat least one of a propagation delay from the second wireless device tothe first wireless device, a Time Division Duplex (TDD) synchronizationmismatch associated with the second wireless device, a disparity inpropagation delays experience by the first wireless device duringnetwork handovers, a mismatch between network timing of various MobileNetwork Operators (MNOs), or any combination thereof.
 23. Thecomputer-readable storage medium of claim 19, wherein the secondwireless device is a base station or a Roadside Unit (RSU).
 24. Thecomputer-readable storage medium of claim 23, wherein base station is agNodeB (gNB).
 25. An apparatus for detecting one or more timing errors,the apparatus comprising: means for receiving, from a navigation system,navigation timestamp information at a first instance and a secondinstance; means for determining a navigation system time differencebased on the navigation timestamp information at the first instance andthe second instance; means for receiving, from a wireless device,network timestamp information at the first instance and the secondinstance; means for determining a network time difference based on thenetwork timestamp information at the first instance and the secondinstance; and means for determining whether time reporting by thenavigation system is correct based on the navigation system timedifference and the network time difference.
 26. The apparatus of claim25, further comprising: means for associating the network timestampinformation at the second instance with the navigation system based on adetermination that that the time reporting by the navigation system hasnot been spoofed.
 27. The apparatus of claim 25, wherein the means fordetermining whether the time reporting by the navigation system iscorrect is configured to: determine an absolute difference between thenavigation system time difference and the network time difference; anddetermine that the time reporting by the navigation system has beenspoofed based on a determination that the absolute difference exceeds aspoofing threshold.
 28. The apparatus of claim 27, wherein the spoofingthreshold is based on at least one of a propagation delay from thewireless device to the apparatus, a Time Division Duplex (TDD)synchronization mismatch associated with the wireless device, adisparity in propagation delays experience by the apparatus duringnetwork handovers, a mismatch between network timing of various MobileNetwork Operators (MNOs), or any combination thereof.
 29. The apparatusof claim 25, wherein the wireless device is a base station or a RoadsideUnit (RSU).
 30. The apparatus of claim 29, wherein base station is agNodeB (gNB).